Manual: 9300 Servo PLC

L
Manual
Global Drive
PLC Developer Studio
Global Drive
9300 Servo PLC
This documentation applies to the following Lenze PLC devices:
Type designation As from hardware version As from software version
9300 Servo PLC EVS93XX−xl 7A 7.0
9300 Servo PLC EVS93XX−xT 7A 7.0
What’s new?
Version Changes
1.4 07/2000 Revised edition for the 9300 Servo PLC as of software version V1.0
4.0/4.1 08/2006 Revised edition for the 9300 Servo PLC as of software version V7.0
Important note:
The software is supplied to the user as described in this document. Any risks resulting from its quality or use remain the responsibility
of the user. The user must provide all safety measures protecting against possible maloperation.
We do not take any liability for direct or indirect damage, e.g. profit loss, order loss or any loss regarding business.
2006 Lenze Drive Systems GmbH

No part of this documentation may be copied or made available to third parties without the explicit written approval of Lenze Drive
Systems GmbH.
All information given in this documentation has been carefully selected and tested for compliance with the hardware and software
described. Nevertheless, discrepancies cannot be ruled out. We do not accept any responsibility or liability for any damage that may
occur. Required corrections will be included in updates of this documentation.
All product names mentioned in this documentation are trademarks of the corresponding owners.
Version 4.1 08/2006
9300 Servo PLC
Contents
1 Preface and general information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1−1

1.1 About this Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1−1
1.1.1 Conventions used in this Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1−1
1.1.2 System block descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1−1
1.1.3 Pictographs in this Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1−2
1.1.4 Terminology used . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1−2
1.2 System block introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1−3
1.2.1 System block principle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1−3
1.2.2 Node numbers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1−4
1.2.3 Access via system variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1−5
1.2.4 Access via absolute addresses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1−5
1.2.5 Definition of inputs/outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1−6
1.2.6 Linking of system blocks with DDS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1−7
1.2.7 Signal types and scalings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1−8
2 System blocks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2−1

2.1 AIF1_IO_AutomationInterface (node number 41) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2−2
2.1.1 Inputs_AIF1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2−2
2.1.2 Outputs_AIF1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2−5
2.2.1 Inputs_AIF2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2−7
2.2.2 Outputs_AIF2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2−9
2.3.1 Inputs_AIF3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2−11
2.3.2 Outputs_AIF3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2−13
2.4 AIF_IO_Management (node number 161) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2−15
2.4.1 Inputs_AIF_Management . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2−15
2.4.2 Outputs_AIF_Management . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2−17
2.5 ANALOG1_IO (node number 11) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2−18
2.5.1 Inputs_ANALOG1 (analog input) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2−18
2.5.2 Outputs_ANALOG1 (analog output) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2−19
2.6 ANALOG2_IO (node number 12) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2−20
2.6.1 Inputs_ANALOG2 (analog input) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2−20
2.6.2 Outputs_ANALOG2 (analog output) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2−20
CAN1_IO (node number 31) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
CAN_Management (node number 101) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
CAN_Synchronization (node number 102) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
See also Manual "System bus (CAN) for Lenze PLC devices".
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2.7 DCTRL_DriveControl (node number 121) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2−21

2.7.1 Inputs_DCTRL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2−22
2.7.2 Outputs_DCTRL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2−22
2.7.3 Quick stop (QSP) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2−23
2.7.4 Operation disabled (DISABLE) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2−23
2.7.5 Controller inhibit (CINH) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2−24
2.7.6 Setting TRIP (TRIP−SET) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2−24
2.7.7 Resetting TRIP (TRIP−RESET) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2−25
2.7.8 Output of digital status signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2−25
2.7.9 Transfer of status/control word via AIF . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2−27
2.8 DFIN_IO_DigitalFrequency (node number 21) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2−28
2.8.1 Inputs_DFIN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2−28
2.9 DFOUT_IO_DigitalFrequency (node number 22) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2−35
2.9.1 Inputs_DFOUT / Outputs_DFOUT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2−35
2.10 DIGITAL_IO (node number 1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2−39
2.10.1 Inputs_DIGITAL (digital inputs) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2−39
2.10.2 Outputs_DIGITAL (digital outputs) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2−40
2.11 FCODE_FreeCode (node number 141) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2−41
2.12 MCTRL_MotorControl (node number 131) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2−44
2.12.1 Inputs_MCTRL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2−45
2.12.2 Outputs_MCTRL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2−46
2.12.3 Current controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2−47
2.12.4 Torque setpoint / additional torque setpoint . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2−48
2.12.5 Torque limitation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2−49
2.12.6 Maximum speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2−50
2.12.7 Speed controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2−51
2.12.8 Torque control with speed limitation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2−52
2.12.9 Speed setpoint limitation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2−52
2.12.10 Phase controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2−53
2.12.11 Quick stop (QSP) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2−54
2.12.12 Field weakening . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2−55
2.12.13 Switching frequency changeover . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2−55
2.12.14 Feedback systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2−56
2.12.15 Touch probe (TP) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2−57
2.12.16 Manual adaptation of motor data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2−59
2.12.17 Monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2−61
2.12.17.6 LP1 − monitoring of the motor phases . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2−70
2.12.17.16 PL − monitoring of the rotor position adjustment . . . . . . . . . . . . . . . . . . . . . . . . . . 2−79
2.13 MCTRL_AUX_HighResFeedback (node number 181) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2−82
2.13.1 Inputs_MCTRL_AUX_HighResFeedback . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2−82
2.13.2 Outputs_MCTRL_AUX_HighResFeedback . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2−82
2.14 STATEBUS_IO (node number 51) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2−83
2.15 SYSTEM_FLAGS (system flags, node number 151) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2−84
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3 Appendix . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3−1
3.1 PLC functionality . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3−1
3.2 Extendability/networking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3−2
3.3 Memories . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3−3
3.3.1 Retain memory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3−4
3.3.2 Persistent memory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3−5
3.3.3 Downloading data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3−7
3.4 System POUs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3−8
3.5 System error messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3−9
3.5.1 Overview of system error messages, error sources and responses . . . . . . . . . . . . . . . . . . . . . . 3−10
3.5.2 Responses and their effects on the drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3−13
3.5.3 System error message reset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3−13
3.5.4 Causes and remedies . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3−14
3.5.5 Fault analysis via the fault memory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3−19
3.5.6 Fault analysis via the LED display of the PLC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3−21
3.5.7 Fault analysis via the 9371BB keypad . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3−21
3.5.8 Fault analysis via the LECOM status word C0150 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3−21
3.6 Code table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3−22
3.6.1 Temporary codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3−52
3.6.2 RAM access via codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3−52
3.7 Attribute table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3−55
4 Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4−1
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Preface and general information
1 Preface and general information
1.1 About this Manual

This Manual describes the system block functions which can be selected and parameterised in the
control configuration of the Drive PLC Developer Studio (DDS) for 9300 Servo PLC.
1.1.1 Conventions used in this Manual

This Manual uses the following conventions to distinguish between different types of information:
Information type Distinction (in text) Example

System block name bold The SB DIGITAL_IO...
System (block) variable identifier italics The input DIGIN_bIn1_b...
Tip!
Information about the conventions used for variable names of Lenze system blocks, function blocks
and functions can be obtained from the appendix of the DDS online documentation "Introduction
into IEC 61131−3 programming". The conventions ensure universal and uniform naming and support
the readability of PLC programs.
1.1.2 System block descriptions

All system block descriptions given in this Manual have the same structure:
Headline with SB identifier
SB function and node number

Short description of the SB and its most important features

System block chart including all corresponding variables
Input variables
Output variables

Table giving information about input and output variables:
Identifier
Data type
Signal type
Address
Display code
Display format
Info
Detailed SB description
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1.1.3 Pictographs in this Manual

Pictographs Signal words
used
Warning of material Stop! Warns of potential damage to material.
damage Possible consequences if disregarded:
Damage of the PLC or its environment.
More notes Tip! Indicates a tip or note.

Note!
1.1.4 Terminology used

Term In this Manual used for
AIF Automation interface
DDS Drive PLC Developer Studio
FIF Function interface
GDC Global Drive Control (parameter setting program from Lenze)
SB System block
System bus System bus (CAN): Lenze standard bus system similar to CANopen
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1.2 System block introduction

For a long time, Lenze has followed the principle of describing controller functions with the aid of
function blocks (FBs). This principle can also be found in the IEC 61131−3 standard.
Functions which can be used as software functions in projects are stored in function libraries
as function blocks or functions.
In addition, quasi−hardware functions are available as system blocks (SBs).
1.2.1 System block principle

The system−block principle can be explained by means of a PLC system in a rack:
The rack contains the CPU, digital I/Os, analog I/Os, counter card, positioning card, etc. as
additional cards:
CPU x x x x x x
x = Additional cards
The CPU can directly access the additional cards and process the resulting information.
Additional cards have fixed addresses for access.
With Lenze PLC controllers, system blocks can be compared with these additional cards!
System blocks are special (hardware) function blocks permanently integrated into the
run−time system of the PLC.
SBs can address real hardware.

SBs are assigned/identified through so−called node numbers. (^ 1−4)
SB inputs and outputs are accessed via system variables or absolute memory addresses.
(^ 1−5)
Inputs/outputs are always classified from the program’s point of view. (^ 1−6)
Required SBs must be explicitly linked to the project via the control configuration of DDS.
(^ 1−7)
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1.2.2 Node numbers

The system blocks of the 9300 Servo PLC carry the following node numbers:
Node number System block Notes
1 DIGITAL_IO Digital inputs/outputs
11 ANALOG1_IO Analog inputs/outputs 1
12 ANALOG2_IO Analog inputs/outputs 2
21 DFIN_IO_DigitalFrequency Digital frequency input
22 DFOUT_IO_DigitalFrequency Digital frequency output
31 CAN1_IO System bus (CAN)1
32 CAN2_IO
33 CAN3_IO
41 AIF1_IO_AutomationInterface Automation interface
42 AIF2_IO_AutomationInterface
43 AIF3_IO_AutomationInterface
51 STATEBUS_IO State bus
60 OSC_Oscilloscope Oscilloscope function
101 CAN_Management System bus (CAN) management1
102 CAN_Syncronization System bus (CAN) synchronisation1
111 FIF_CAN_Management System bus (CAN), FIF module CAN−I/O management1
121 DCTRL_DriveControl Device control
131 MCTRL_MotorControl Motor control
141 FCODE_FreeCodes Free codes
151 SYSTEM_FLAGS System flags
161 AIF_IO_Management Automation interface management
171 VAR_PERSISTENT Persistent variables
181 MCTRL_AUX_HighResFeedback High−resolution encoder signal
1 SBs for system bus (CAN) are described in the "System bus (CAN) for Lenze PLC devices" Manual.
The node number is part of the absolute SB address (see chapter 2). (^ 1−5)

9300 Servo PLC
1.2.3 Access via system variables

You can use the system variables of a system block in your project after the system block has been
integrated into the control configuration of the DDS.
Open the input assistance in the DDS editors via <F2> to get a listing of all available system
variables:
This Manual lists the system variables in the table for the corresponding system block:
Variable Data type Signal type Address Display Display Note
code format
DIGIN_bIn1_b %IX1.0.0 C0443/1
... Bool Binary ... ... bin
Example: Table with SB DIGITAL_IO inputs of the Drive PLC
1.2.4 Access via absolute addresses

System block inputs and outputs can also be accessed via absolute addresses according to the
IEC61131−3 standard:
For inputs use: For outputs use:
a = node number
%IXa.b.c %QXa.b.c b = word address
c = bit address
This Manual lists the absolute addresses in the table for the corresponding system block:
code format
... Bool Binary ... ... bin
Example: Table with SB DIGITAL_IO inputs of the Drive PLC

9300 Servo PLC
1.2.5 Definition of inputs/outputs

The application program is connected with the hardware by linking system blocks with program
organisation units (POUs):
POU-Input POU-Output
SB-Output SB-Input
SB POU SB
Fig. 1−1 Principle: Linking of system blocks with a program organisation unit (POU)
Tip!
Inputs and outputs are always classified from the program’s point of view.
Logic SB inputs are hardware outputs of the PLC.
Logic SB outputs are hardware inputs of the PLC.
Example: System block DIGITAL_IO of the 9300 Servo PLC

If you want to use the digital input 1 and the digital output 1 of the 9300 Servo PLC, proceed as
follows:
1. Link the SB DIGITAL_IO explicitly with the DDS control configuration. (^ 1−7)
2. Access to digital input 1:
Assign the system variable DIGIN_bIn1_b to a POU input.
3. Access to digital output 1:
Assign the system variable DIGOUT_bOut1_b to a POU output.
DCTRL -X5/28 SB-OUT POU-OUT DIGOUT

X5 DIGIN
DIGOUT_bOut1_b
DIGIN_bCInh_b C0118/1...4 X5
28 DIGOUT_bOut2_b
DIGIN_bIn1_b A1
E1 DIGOUT_bOut3_b
C0114/1...5 DIGIN_bIn2_b
DIGIN_bIn3_b
POU SB-IN DIGOUT_bOut4_b
0
1 A2
E2 1
0
DIGIN_bIn4_b A3
E3 1 POU-IN C0444/1
1 DIGIN_bIn5_b C0444/2
E4 C0444/3 A4
C0443 C0444/4
E5
Fig. 1−2 Principle: Linking of the 9300 Servo PLC system block DIGITAL_IO with a POU
Tip!
According to the IEC61131−3 standard, only one copy of the digital input 1 and the digital output 1
may be transferred.

9300 Servo PLC
1.2.6 Linking of system blocks with DDS

The system blocks required must be explicitly linked to the project via the control configuration of the
DDS.
The control configuration is placed as an object in the Resources tab in the Object organiser.
The control configuration lists all inputs and outputs including the identifiers of the
corresponding I/O variable, the absolute address and the data type of the I/O variable for
every linked SB.
Identifier of the I/O variable

Absolute address
Data type of the I/O variable

Fig. 1−3 Example: Control configuration for 9300 Servo PLC with linked SB DIGITAL_IO
Tip!
The control configuration provides a context menu for adding and deleting SBs which can be
activated via the right mouse key.

9300 Servo PLC
1.2.7 Signal types and scalings

Most inputs and outputs of Lenze function blocks/system blocks can be assigned to a certain signal
type. We distinguish between digital, analog, position and speed signals.
The identifier of the corresponding input/output variable has an ending (starting with an underscore).
It indicates the signal type.
Signal type Ending Memory Scaling Previous
space (external value º internal value) identification
Analog _a (analog) 16 bits 100 % 16384 H
Digital _b (binary) 8 bits 0 FALSE; 1 TRUE G
Phase difference or speed _v (velocity) 16 bits 15000 rpm 16384 F
Phase difference/speed ref. to 1 ms
Scaling example:
Speed (on motor side) + 15000 [rpm] + 15000
60 [s]
1 motor revolution + 65536 [inc]
Variable value (..._v) + 15000 @ 65536 [inc] + 15000 @ 65536 [inc] + 16384 ms
60 [s] 60000 [ms]
inc ƪ ƫ
Phase−angle or position _p (position) 32 bits 1 motor revolution 65536 E

31 High Word Low Word 0
Direction (0 clockwise rotation; 1 counter−clockwise rotation)

No. of motor revolutions (0 ... 32767)
Phase angle or position (0 ... 65535)
Note!
Due to their scaling, analog signals have an asymmetrical resolution range (−200 % ... +199.99 %):
External value: −200 % −100 % 0 +100 % +199.99 %

Internal value: −32768 −16384 0 +16384 +32767

9300 Servo PLC
System blocks
2 System blocks
The following sections inform about the system blocks of the basic unit.

9300 Servo PLC
System blocks
2.1 AIF1_IO_AutomationInterface (node number 41)
2.1.1 Inputs_AIF1
This SB is used as an interface for input signals (e.g. setpoints/actual values) from attached fieldbus
modules (e.g. INTERBUS, PROFIBUS−DP).
The process image is
– created in the cyclic task in a fixed time interval of 10 ms.
– created in an interval task within the time set for this task.
– read at the beginning of the task and written at its end.
Tip!
Please observe the Operating Instructions for the attached fieldbus module.
Inputs_AIF1 AIF1_wDctrlCtrl
16 Bit
AIF1_bCtrlB0_b
AIF1_bCtrlB1_b
AIF1_bCtrlB2_b
AIF1_bCtrlQuickstop_b
AIF1_bCtrlB4_b
AIF1_bCtrlB5_b
AIF1_bCtrlB6_b
AIF1_bCtrlB7_b
AIF1_bCtrlDisable_b
16 binary
signals AIF1_bCtrlCInhibit_b
AIF1_bCtrlTripSet_b
Byte AIF1_bCtrlTripReset_b
Controlword
1
AIF1_bCtrlB12_b
AIF1_bCtrlB13_b
Byte AIF1_bCtrlB14_b
2
AIF1_bCtrlB15_b
Byte
3
AIF1_nInW1_a
16 Bit
Byte C0856/1
4
Automation
Interface AIF1_nInW2_a
16 Bit
Byte
5 C0856/2
AIF1_bInB0_b
C0855/1
…
Byte 16 binary AIF1_bInB15_b

6 signals
AIF1_nInW3_a
16 Bit
Byte
7 C0856/3
AIF1_bIn16_b
C0855/2
…
Byte 16 binary AIF1_bIn31_b

8 signals
16 Bit
LowWord
AIF1_dnInD1_p
16 Bit
HighWord C0857
Fig. 2−1 Inputs_AIF1
2−2 9300 Servo PLC EN 4.1 L

9300 Servo PLC
System blocks
System variables
code format
AIF1_wDctrlCtrl Word − %IX41.0 C0136/3 hex
AIF1_bCtrlB0_b %IX41.0.0
AIF1_bCtrlQuickstop_b %IX41.0.3
Bool Binary C0136/3 bin
AIF1_bCtrlDisable_b %IX41.0.8
AIF1_bCtrlCInhibit_b %IX41.0.9
AIF1_bCtrlTripSet_b %IX41.0.10
AIF1_bCtrlTripReset_b %IX41.0.11
AIF1_nInW1_a %IW41.1 C0856/1
AIF1_nInW2_a Integer Analog %IW41.2 C0856/2 dec [%]
AIF1_nInW3_a %IW41.3 C0856/3
AIF1_bInB0_b %IX41.2.0
... ... C0855/1
Bool Binary hex
... ... C0855/2
AIF1_dnInD1_p Double integer Position %ID41.1 C0857 dec [inc]

9300 Servo PLC
System blocks
User data
The received 8 bytes of user data are assigned to several variables of different data types
simultaneously. Thus the data can be evaluated in the PLC program as
binary information (1 bit)
control word/quasi−analog value (16 bits)
phase information (32 bits)
according to the requirements.
Byte Variable (1 bit) Variable (16 bits) Variable (32 bits)
1, 2 AIF1_bInB0_b
AIF1_bInB1_b
AIF1_bInB2_b
AIF1_bCtrlQuickstop_b
AIF1_bInB4_b
...
AIF1_bInB7_b
AIF1_wDctrlCtrl
AIF1_bCtrlDisable_b
AIF1_bCtrlCInhibit_b
AIF1_bCtrlTripSet_b
AIF1_bCtrlTripReset_b
AIF1_bInB12_b
...
AIF1_bInB15_b
Notes: Drive PLC:
All variables assigned to byte 1/2 can be freely used in the PLC program.
9300 Servo PLC:
The assignment of the controller−internal control word to byte 1/2 is not a fixed assignment.
Byte 1/2 can, however, be used to write the signals for the quick stop (QSP), DISABLE, CINH, TRIP−SET and
TRIP−RESET functions to the SB DCTRL_DriveControl.
– To do this, connect the variable AIF1_wDctrlCtrl with the variable DCTRL_wAIF1Ctrl of the SB
DCTRL_DriveControl.
The signals can also be read and processed via the following variables:
– AIF1_bCtrlQuickstop_b
– AIF1_bCtrlDisable_b
– AIF1_bCtrlCInhibit_b
– AIF1_bCtrlTripSet_b
– AIF1_bCtrlTripReset_b
3, 4
AIF1_nInW1_a
5, 6 AIF1_bInB0_b
... AIF1_nInW2_a
AIF1_bInB15_b
AIF1_dnInD1_p
7, 8 AIF1_bInB16_b
... AIF1_nInW3_a
AIF1_bInB31_b

9300 Servo PLC
System blocks
2.1.2 Outputs_AIF1
This SB is used as an interface for output signals (e.g. setpoints/actual values) to attached fieldbus
Tip!
Outputs_AIF1
Byte
1
AIF1_wDctrlStat
16 Bit
Byte
2
Byte
3
AIF1_nOutW1_a
16 Bit
C0858/1 Byte
4
Automation
AIF1_nOutW2__a Interface
16 Bit
Byte
C0858/2 5
AIF1_bFDO0_b
C0151/4
…
AIF1_bFDO15_b 16 binary Byte

signals 6
AIF1_nOutW3_a
16 Bit
Byte
AIF1_bFDO16_b C0858/3 7
C0151/4
…
AIF1_bFDO31_b 16 binary Byte

signals 8
16 Bit
LowWord
AIF1_dnOutD1_p
16 Bit
C0859 HighWord
Fig. 2−2 Outputs_AIF1

9300 Servo PLC
System blocks
System variables

code format
AIF1_wDctrlStat Word − %QW41.0 − −
AIF1_nOutW1_a %QW41.1 C0858/1
AIF1_nOutW2_a Integer Analog %QW41.2 C0858/2 dec [%]
AIF1_nOutW3_a %QW41.3 C0858/3
AIF1_bFDO0_b %QX41.2.0
.. ...
AIF1_bFDO15_b %QX41.2.15 Display code in hex
Bool Binary C0151/4 hex
AIF1_bFDO16_b %QX41.3.0 as double word
.. ...
AIF1_dnOutD1_p Double integer Position %QD41.1 C0859 dec [inc]
User data
The 8 bytes of user data to be sent can be written to via several variables of different data types
simultaneously. Thus the data can be transferred by the PLC program as
status word/quasi−analog value (16 bits)
phase information (32 bits)

1, 2
AIF1_wDctrlStat
Notes: Drive PLC:

All variables assigned to byte 1/2 can be written to by the PLC program.
9300 Servo PLC:
Bytes 1 and 2 can be used to transfer the status word from the SB DCTRL_DriveControl.
To do this, connect the variable DCTRL_wStat of the SB DCTRL_DriveControl with the variable AIF1_wDctrlStat.
In addition to signals such as IMP and CINH, the SB DCTRL_DriveControl status word contains some freely
assignable signals which can be written to via the variables DCTRL_bStateB.._b of the SB DCTRL_DriveControl.
3, 4
AIF1_nOutW1_a
5, 6 AIF1_bFDO0_b
... AIF1_nOutW2_a
AIF1_bFDO15_b
AIF1_dnOutD1_p
7, 8 AIF1_bFDO16_b
... AIF1_nOutW3_a
AIF1_bFDO31_b
Tip!
Avoid simultaneous overwriting via different variable types to ensure data consistency.
Thus bytes 5 and 6 should only be written to
– by the variable AIF1_dnOutD1_p,
– by the variable AIF1_nOutW2_a or
– by the variables AIF1_bFDO0_b ... AIF1_bFDO15_b.

9300 Servo PLC
System blocks
2.2.1 Inputs_AIF2
Automation interface (node number 42)
Tip!
Inputs_AIF2
AIF2_nInW1_a
16 Bit
Byte
1
AIF2_bInB0_b
16 binary
...
signals
Byte AIF2_bInB15_b
2
AIF2_nInW2_a
16 Bit
Byte
3
AIF2_bInB16_b
16 binary
signals ...
Byte AIF2_bInB31_b
4
Automation
Interface
16 Bit
Byte LowWord
5 AIF2_dnInD1_p
16 Bit
HighWord
Byte
6
AIF2_nInW3_a
16 Bit
Byte
7
AIF2_nInW4_a
16 Bit
Byte
8

9300 Servo PLC
System blocks
System variables
Variable Data type Signal type Address Display code Display Note
format
AIF2_nInW1_a %IW42.0
Integer Analog
... ...
Bool Binary
... ...
AIF2_dnInD1_p Double integer Position %ID42.0
User data
The 4 first bytes of the received 8 bytes of user data are assigned to several variables of different data
types simultaneously. Thus the data can be evaluated in the PLC program as
quasi−analog value (16 bits)
angle information (32 bits)
1, 2 AIF2_bInB0_b
... AIF2_nInW1_a
AIF2_bInB15_b
AIF2_dnInD1_p
3, 4 AIF2_bInB16_b
... AIF2_nInW2_a
AIF2_bInB31_b
5, 6
AIF2_nInW3_a
7, 8
AIF2_nInW4_a

9300 Servo PLC
System blocks
2.2.2 Outputs_AIF2
Tip!
Outputs_AIF2
AIF2_nOutW1_a
16 Bit
Byte
1
AIF2_bFDO0_b
16 binary
...
signals
AIF2_bFDO15_b Byte
2
AIF2_nOutW2_a
16 Bit
Byte
3
AIF2_bFDO16_b
16 binary
...
signals
AIF2_bFDO31_b Byte
4
Automation
Interface
16 Bit
LowWord Byte
AIF2_dnOutD1_p 5
16 Bit
HighWord
Byte
6
AIF2_nOutW3_a
16 Bit
Byte
7
AIF2_nOutW4_a
16 Bit
Byte
8

9300 Servo PLC
System blocks
System variables
format
AIF2_nOutW1_a %QW42.0
Integer Analog
... ...
Bool Binary
... ...
AIF2_dnOutD1_p Double integer Position %QD42.0
User data
The first 4 bytes of the 8 bytes of user data to be sent can be written to via several variables of different
data types at the same time. Data can therefore be transferred by the PLC program as
1, 2 AIF2_bFDO0_b
... AIF2_nOutW1_a
AIF2_bFDO15_b
AIF2_dnOutD1_p
3, 4 AIF2_bFDO16_b
... AIF2_nOutW2_a
AIF2_bFDO31_b
5, 6
AIF2_nOutW3_a
7, 8
AIF2_nOutW4_a
Tip!
2−10 9300 Servo PLC EN 4.1 L

9300 Servo PLC
System blocks
2.3.1 Inputs_AIF3
Tip!
Inputs_AIF3
AIF3_nInW1_a
16 Bit
Byte
1
AIF3_bInB0_b
16 binary
...
signals
Byte AIF3_bInB15_b
2
AIF3_nInW2_a
16 Bit
Byte
3
AIF3_bInB16_b
16 binary
...
signals
Byte AIF3_bInB31_b
4
Automation
Interface
16 Bit
Byte LowWord
5 AIF3_dnInD1_p
16 Bit
HighWord
Byte
6
AIF3_nInW3_a
16 Bit
Byte
7
AIF3_nInW4_a
16 Bit
Byte
8
L 9300 Servo PLC EN 4.1 2−11

9300 Servo PLC
System blocks
System variables
format
Integer Analog
... ...
Bool Binary
... ...
AIF3_dnInD1_p Double integer Position %ID43.0
User data
The 4 first bytes of the received 8 bytes of user data are assigned to several variables of different data
types simultaneously. Thus the data can be evaluated in the PLC program as
1, 2 AIF3_bInB0_b
... AIF3_nInW1_a
AIF3_bInB15_b
AIF3_dnInD1_p
3, 4 AIF3_bInB16_b
... AIF3_nInW2_a
AIF3_bInB31_b
5, 6
AIF3_nInW3_a
7, 8
AIF3_nInW4_a
2−12 9300 Servo PLC EN 4.1 L

9300 Servo PLC
System blocks
2.3.2 Outputs_AIF3
Tip!
Outputs_AIF3
AIF3_nOutW1_a
16 Bit
Byte
1
AIF3_bFDO0_b
16 binary
...
signals
AIF3_bFDO15_b Byte
2
AIF3_nOutW2_a
16 Bit
Byte
3
AIF3_bFDO16_b
16 binary
...
signals
AIF3_bFDO31_b Byte
4
Automation
Interface
16 Bit
LowWord Byte
AIF3_dnOutD1_p 5
16 Bit
HighWord
Byte
6
AIF3_nOutW3_a
16 Bit
Byte
7
AIF3_nOutW4_a
16 Bit
Byte
8
L 9300 Servo PLC EN 4.1 2−13

9300 Servo PLC
System blocks
System variables
format
Integer Analog
... ...
Bool Binary
... ...
AIF3_dnOutD1_p Double integer Position %QD43.0
User data
The first 4 bytes of the 8 bytes of user data to be sent can be written to via several variables of different
data types at the same time. Data can therefore be transferred by the PLC program as
1, 2 AIF3_bFDO0_b
... AIF3_nOutW1_a
AIF3_bFDO15_b
AIF3_dnOutD1_p
3, 4 AIF3_bFDO16_b
... AIF3_nOutW2_a
AIF3_bFDO31_b
5, 6
AIF3_nOutW3_a
7, 8
AIF3_nOutW4_a
Tip!
2−14 9300 Servo PLC EN 4.1 L

9300 Servo PLC
System blocks
2.4 AIF_IO_Management (node number 161)
2.4.1 Inputs_AIF_Management
This SB monitors the communication of a fieldbus module connected to an automation interface
(AIF).
In the event of an error, AIF_bCe0CommErr_b is set to TRUE and the communication error
"CE0" (LECOM no. 61) is initiated. The response to this error can be configured under C0126
(Lenze setting: off).
New AIF fieldbus modules (e.g. 2133 and 2175) also use AIF_bFieldBusStateBit0_b ...
AIF_bFieldBusStateBit15_b to transfer an error number from the fieldbus module.
C2121 displays the status.
Tip!
Read the documentation for the attached fieldbus module.
Inputs_AIF_Management
AIF
AIF_bCe0CommErr_b
Communication
Error
AIF_bFieldBusStateBit0_b
X1
AIF AIF_bFieldBusStateBit7_b
Fieldbus State
Fig. 2−7 System block "Inputs_AIF_Management"
L 9300 Servo PLC EN 4.1 2−15

9300 Servo PLC
System blocks
System variables
format
AIF_bCe0CommErr_b %IX161.0.0 Communication error CE0"
AIF_bFieldBusStateBit0_b %IX161.1.0 Error number − bit 0
AIF_bFieldBusStateBit7_b Bool Binary %IX161.1.7 Error number − bit 7
Codes
Code LCD Possible settings Info

Lenze Selection
C0126 MONIT CE0 3 Configuration for communication
error "CE0" with automation
interface
0 TRIP
2 Warning
3 Off
C2121 AIF: state g AIF−CAN: Status
Detailed information can be
found in the documentation for
the corresponding fieldbus
module.
0 {dec} 255
Decimal value is bit−coded:
Bit 0 XCAN1_IN monitoring time
Bit 3 XCAN bus−off
Bit 4 XCAN operational
Bit 5 XCAN pre−operational
Bit 6 XCAN warning
Bit 7 Internally assigned
2−16 9300 Servo PLC EN 4.1 L

9300 Servo PLC
System blocks
2.4.2 Outputs_AIF_Management
This SB transfers commands and messages to a fieldbus module connected to an automation
interface (AIF).
For this purpose C2120 provides a control word. The commands are specified as numbers. Some
command numbers are universally applicable for all fieldbus modules, others apply only for special
modules. The total number of commands available can amount to up to 16.
Tip!
Read the documentation for the attached fieldbus module.
Outputs_AIF_Management
AIF control word
Bit 8 … 15
AIF_wControl
Bit 7
Toggle-Bit (MSB)
C2120
Bit 0 … 6
Fig. 2−8 System block "Outputs_AIF_Management"
System variables
format
AIF_wControl Word %QX161.0 C2120
Codes

Lenze Selection
C2120 AIF: Control AIF command
0 No command
1 Read CAN codes + reinitialisation
2 Read XCAN codes
10 Read XCAN C2356/1 ... 4
11 Read XCAN C2357
12 Read XCAN C2375
13 Read XCAN C2376 ... C2378
14 Read XCAN C2382
255 Not assigned
L 9300 Servo PLC EN 4.1 2−17

9300 Servo PLC
System blocks
2.5 ANALOG1_IO (node number 11)
2.5.1 Inputs_ANALOG1 (analog input)

The input is the interface for differential analog signals between terminals X6/1, 2. It can be used as
a setpoint input or as an actual value input.
C0034
Inputs_ANALOG1
X6
1 AIN1_nIn_a
2 C0400
AIN1_bError_b
Fig. 2−9 Inputs_ANALOG1
System variables
code format
AIN1_nIn_a Integer Analog %IW11.0 C0400 dec [%] Analog input 1
AIN1_bError_b Bool Binary %IX11.1.0 − − Only when C0034 = 1:
TRUE if I < 2 mA
Selection of master voltage/master current

C0034 can be used to set whether the input is to be used for a master voltage or a master
current:
Lenze Selection
C0034 Mst current 0 Selection: Master voltage/master
current
0 −10 V ... + 10 V (master voltage)
1 +4 mA ... +20 mA (master current)
2 −20 mA ... +20 mA
Please also observe the jumper position X3 at the front of the 9300 Servo PLC in this
connection (see terminal assignment).
Use as a 4 ... 20 mA master current input

If the input is used as a master current input (C0034 =1), then AIN1_bError_b = TRUE as long
as the absolute value of the master current is < 2 mA, otherwise it is FALSE.
C0598 can be used to set the response for the case that the absolute value of the master
current is < 2 mA:
Lenze Selection
C0598 MONIT SD5 3 Monitoring configuration:
Absolute master current value across
X6/1, 2 < 2 mA
0 TRIP
2 Warning
3 Off
2−18 9300 Servo PLC EN 4.1 L

9300 Servo PLC
System blocks
Terminal assignment
Set via C0034 whether the input is to be used for a master voltage or a master current.
Set jumper bar X3 according to setting in C0034:
Stop!
Do not plug the jumper on 3−4! The PLC cannot be initialised in this case.
Terminal Use Jumper X3 Measuring range

X6/1, 2 Differential input for C0034 = 0
6 5
master voltage 4 3 Level: −10 V ... +10 V
2 1 Resolution: 5 mV (11 bits + sign)
Scaling: 10 V 16384 100 %
Differential input for C0034 = 1
6 5
master current 4 3 Level: +4 mA ... +20 mA
2 1 Resolution: 20 A (10 bits without sign)
Scaling: +4 mA 0 0 %
+20 mA +16384 +100 %
C0034 = 2
Level: −20 mA ... +20 mA
Resolution: 20 A (10 bits + sign)
Scaling: 20 mA 16384 100 %
2.5.2 Outputs_ANALOG1 (analog output)

The output can be used as a monitor output. Internal analog signals can be output as voltage signals
via terminal X6/62 and used, for instance, as display values or setpoints for slave drives.
Outputs_ANALOG1
X6
AOUT1_nOut_a
62
C0434
Fig. 2−10 Outputs_ANALOG1
System variables
code format
AOUT1_nOut_a Integer Analog %QW11.0 C0434 dec [%] Analog output 1
Terminal assignment
Terminal Use Measuring range

X6/62 Analog output 1 (monitor 1) Level: −10 V ... +10 V (max. 2 mA)
Resolution: 20 mV (9 bits + sign)
Scaling: 10 V 16384 100 %
X6/7 Internal ground, GND −
L 9300 Servo PLC EN 4.1 2−19

9300 Servo PLC
System blocks
2.6.1 Inputs_ANALOG2 (analog input)

The input is the interface for differential analog signals between terminals X6/3, 4.
X6
Inputs_ANALOG2
3 AIN2_nIn_a
4 C0405
Fig. 2−11 Inputs_ANALOG2
System variables
code format
AIN2_nIn_a Integer Analog %IW12.0 C0405 dec [%] Analog input 2
Terminal assignment
X6/3, 4 Differential input for master voltage Level: −10 V ... +10 V
(no effect of jumper X3) Resolution: 5 mV (11 bits + sign)
Scaling: 10 V 16384 100 %
2.6.2 Outputs_ANALOG2 (analog output)

The output can be used as a monitor output. Internal analog signals can be output as voltage signals
via terminal X6/63 and used, for instance, as display values or setpoints for slave drives.
Outputs_ANALOG2
X6
AOUT2_nOut_a
63
C0439
Fig. 2−12 Outputs_ANALOG2
System variables
code format
AOUT2_nOut_a Integer Analog %QW12.0 C0439 dec [%] Analog output 2
Terminal assignment
X6/63 Analog output 2 (monitor 2) Level: −10 V ... +10 V (max. 2 mA)
Resolution: 20 mV (9 bits + sign)
Scaling: 10 V 16384 100 %
X6/7 Internal ground, GND −
2−20 9300 Servo PLC EN 4.1 L

9300 Servo PLC
System blocks
2.7 DCTRL_DriveControl (node number 121)

This SB controls the transition of the 9300 Servo PLC to certain states (e.g. TRIP, TRIP−RESET, quick
stop (QSP) or controller inhibit (CINH)).
The process image is created in the course of a fixed system task (interval: 2 ms).
C0135 DCTRL_DriveControl
DCTRL_wCAN1Ctrl 16
16 Bit Bit3
Bit3 >1 QSP
DCTRL_wAIF1Ctrl C135.B3 DCTRL_bFail_b
16 Bit >1
Bit8 DCTRL_bImp_b
Bit8 >1 DISABLE
C135.B8 DCTRL_bTrip_b
Bit9 DCTRL_bQspIn_b
Bit9
C135.B9 DCTRL_bRdy_b
DCTRL_bCInh1_b X5/28 DCTRL_bCwCCw_b
>1 CINH
DCTRL_bNActEq0_b
C0878/1
DCTRL_bCInh2_b DCTRL_bCInh_b
Bit10 DCTRL_bStat1_b
C0878/2 Bit10
>1 TRIP-SET DCTRL_bStat2_b
DCTRL_bTripSet_b C135.B10
DCTRL_bStat4_b
C0878/3 DCTRL_bStat8_b
Bit11
Bit11 TRIP- DCTRL_bWarn_b
DCTRL_bTripReset_b C135.B11 >1
RESET DCTRL_bMess_b
C0878/4 C0136/1 DCTRL_bInit_b

DCTRL_bExternalFault_b
DCTRL_wFaultNumber
STAT
DCTRL_bStateB0_b
0
DCTRL_bImp_b
1
DCTRL_bStateB2_b
2
DCTRL_bStateB3_b
3
DCTRL_bStateB4_b
4
DCTRL_bStateB5_b
5
DCTRL_bNActEq0_b
6
DCTRL_bCInh_b DCTRL_wStat
7
DCTRL_bStat1_b
8 C0150
DCTRL_bStat2_b
9
DCTRL_bStat4_b
10
DCTRL_bStat8_b
11
DCTRL_bWarn_b
12
DCTRL_bMess_b
13
DCTRL_bStateB14_b
14
DCTRL_bStateB15_b
15
Fig. 2−13 DCTRL_DriveControl
Tip!
The SB DCTRL_DriveControl only affects the motor control and drive control of the
9300 Servo PLC, i.e. motor control/drive control and application program of the PLC are completely
independent of each other as long as the signals are not queried in the application program.
If, for instance, the motor control initiates a TRIP, the application program will not be stopped!
If, however, a TRIP is caused by a task overflow, the application program of the PLC will be
stopped as well!
L 9300 Servo PLC EN 4.1 2−21

9300 Servo PLC
System blocks
2.7.1 Inputs_DCTRL
System variables
Variables Data type Signal type Address Display Display Note
code format
DCTRL_bFail_b %IX121.0.0 TRUE = active error
DCTRL_bImp_b %IX121.0.1 TRUE = power output stages with high
resistance
DCTRL_bTrip_b %IX121.0.2 TRUE = active fault
DCTRL_bQspIn_b Bool Binary %IX121.0.3 TRUE = quick stop (QSP) ^ 2−23
DCTRL_bRdy_b %IX121.0.4 TRUE = ready for operation
DCTRL_bCwCcw_b %IX121.0.5 FALSE = CW, TRUE = CCW
DCTRL_bNActEq0_b %IX121.0.6 TRUE = motor speed < C0019
DCTRL_bCInh_b %IX121.0.7 TRUE = RSP ^ 2−24
DCTRL_bStat1_b %IX121.0.8
Bool Binary Status signals ^ 2−25
DCTRL_bWarn_b %IX121.0.12 TRUE = active warning
DCTRL_bMess_b %IX121.0.13 TRUE = active message
Bool Binary
DCTRL_bInit_b %IX121.0.14 TRUE = initialisation phase
DCTRL_bExternalFault_b %IX121.0.15 TRUE = external error ^ 2−26
DCTRL_wStat %IW121.1 C0150 Status word ^ 2−25
Word − hex
DCTRL_wFaultNumber %IW121.2 C0168 Current error number ^ 3−9
2.7.2 Outputs_DCTRL
System variables
code format
DCTRL_wCAN1Ctrl %QW121.3 CAN control word
Word
DCTRL_wAIF1Ctrl %QW121.2 AIF control word
DCTRL_bCInh1_b %QX121.0.1 C0878/1
Controller inhibit (CINH) ^ 2−23
DCTRL_bCInh2_b %QX121.0.2 C0878/2
Bool Binary bin
DCTRL_bTripSet_b %QX121.0.3 C0878/3 TRIP−SET ^ 2−24
DCTRL_bTripReset_b %QX121.0.4 C0878/4 TRIP−RESET ^ 2−25
DCTRL_bStatB0_b %QX121.1.0
DCTRL_bStatB4_b Bool Binary %QX121.1.4 Status signals ^ 2−25
2−22 9300 Servo PLC EN 4.1 L

9300 Servo PLC
System blocks
2.7.3 Quick stop (QSP)

The QSP function is used to stop the drive independently of the selected setpoint within an adjustable
time interval.
Note!
Quick stop (QSP) will only be set if DCTRL_bQspIn_b is connected to MCTRL_bQspOut_b of
SB MCTRL_MotorControl:
DCTRL_bQspIn_b MCTRL_bQspOut_b
OR
Any Variable C0907/3
MCTRL_nHiMLim_a
C0906/4
MCTRL_nLoMLim_a
C0906/3
MCTRL_bNMSwt_b
C0907/2
The function can be controlled via the following 3 inputs (OR−linked):

– Control word CAN1_wDctrlCtrl of SB CAN1_IN
– Control word AIF_wDctrlCtrl of SB AIF1_IN
– Control word C0135, bit 3
C0136/1 indicates the control word C0135:
Lenze Selection
C0136 CTRLWORD g Control word
Hexadecimal value is bit−coded.
0 {hex} FFFF
1 DCTRL_DriveControl
Speed is reduced to 0 within the deceleration time set under C0105:

Lenze Selection
C0105 QSP Tif 0.000 Deceleration time for quick stop (QSP)
Referred to speed change
nmax ... 0.
0.000 {0.001 s} 999.900
2.7.4 Operation disabled (DISABLE)

This function sets "Operation disabled (DISABLE)" in the drive, i.e. the power output stages are
inhibited and all speed/current/position controllers are reset. With "Operation disabled", the drive
cannot be started with the "Controller enable" command.
– Control word CAN1_wDctrlCtr of SB CAN1_IN
C0136/1 indicates the control word C0135. (^ 2−23)
L 9300 Servo PLC EN 4.1 2−23

9300 Servo PLC
System blocks
2.7.5 Controller inhibit (CINH)

This function sets "Controller inhibit (CINH)" in the drive, i.e. the power output stages are inhibited
and all speed/current/position controllers are reset.
– Terminal X5/28 (FALSE = controller inhibit active)
– System variable DCTRL_bCInh1_b (TRUE = set controller inhibit)
– System variable DCTRL_bCInh2_b (TRUE = set controller inhibit)
2.7.6 Setting TRIP (TRIP−SET)

This function sets "TRIP" in the drive and signals an "external error" (error message "EEr").
– System variable DCTRL_bTripSet_b (TRUE = set TRIP)
The response to TRIP can be set under C0581:
Lenze Selection
C0581 MONIT Eer 0 Monitoring configuration:
External error
0 TRIP
1 Message
2 Warning
3 Off
2−24 9300 Servo PLC EN 4.1 L

9300 Servo PLC
System blocks
2.7.7 Resetting TRIP (TRIP−RESET)

This function resets an active TRIP provided that the cause of malfunction is eliminated. If the cause
of malfunction is still active, there is no response.
– System variable DCTRL_bTripReset_b
Note!
The function can only be performed by the FALSE−TRUE edge of the signal resulting from the OR
operation!
A FALSE−TRUE edge cannot occur if one of the inputs is TRUE!
2.7.8 Output of digital status signals

Via DCTRL_wStat a status word is output which consists of the signals generated from the SB
DCTRL_DriveControl and of signals from freely configurable SB inputs:
DCTRL_DriveControl
STAT
DCTRL_bStateB0_b
0
DCTRL_bImp_b
1
DCTRL_bStateB2_b
2
DCTRL_bStateB3_b
3
DCTRL_bStateB4_b
4
DCTRL_bStateB5_b
5
DCTRL_bNActEq0_b
6
DCTRL_bCInh_b DCTRL_wStat
7
DCTRL_bStat1_b
8 C0150
DCTRL_bStat2_b
9
DCTRL_bStat4_b
10
DCTRL_bStat8_b
11
DCTRL_bWarn_b
12
DCTRL_bMess_b
13
DCTRL_bStateB14_b
14
DCTRL_bStateB15_b
15
Fig. 2−14 Output of the status word DCTRL_wStat
With C0150 you can display the status word:
L 9300 Servo PLC EN 4.1 2−25

9300 Servo PLC
System blocks

Lenze Selection
C0150 Status word g Status word DCTRL_wStat
FCODE_bC150Bit0_b ...
FCODE_bC150Bit15_b
0 {1} 65535
Bit 00 Freely configurable 0 DCTRL_bStateB0_b
Bit 01 IMP (DCTRL_bImp_b)
Bit 06 n=0 (DCTRL_bNActEq0_b)
Bit 07 RSP (DCTRL_bCInh_b)
Bit 08 Status (DCTRL_bStat1_b)
Bit 12 Warning (DCTRL_bWarn_b)
Bit 13 Message (DCTRL_bMess_b)
The system variables DCTRL_bStat1_b ... DCTRL_bStat8_b display the status of the drive in
binary−coded form:
DCTRL_bStat8_b DCTRL_bStat4_b DCTRL_bStat2_b DCTRL_bStat1_b Status
0 0 0 0 Initialisation after connection of the supply voltage
0 0 0 1 Protection against unexpected start−up active (C0142 = 0)
0 0 1 1 Drive inhibited (controller inhibit)
0 1 1 0 Drive enabled
0 1 1 1 The triggering of a monitoring function resulted in a "message"
1 0 0 0 The triggering of a monitoring function resulted in a TRIP
0 = FALSE 1 = TRUE
2.7.8.1 TRIP status (DCTRL_bExternalFault_b)

If a "TRIP" is initiated in the drive (e.g. via the system variable DCTRL_bTripSet_b, C0135/bit 10 or
keypad), the system variable DCTRL_bExternalFault_b is set to TRUE.
DCTRL_bExternalFault_b is reset to FALSE by confirming the TRIP.
2−26 9300 Servo PLC EN 4.1 L

9300 Servo PLC
System blocks
2.7.9 Transfer of status/control word via AIF

If the control and/or status word of SB DCTRL_DriveControl is to be assigned to SB AIF1_IO, the
following program in the IEC1131−3 programming language IL can, for instance, be used:
LD DCTRL_wStat
ST AIF1_wDctrlStat /* writing the status word */
LD AIF1_wDctrlCtrl
ST DCTRL_wAIF1Ctrl /* writing the control word */
Tip!
The assignment of the status/control word depends on the communication module used and on the
transmission profile set (e.g. DRIVECOM).
L 9300 Servo PLC EN 4.1 2−27

9300 Servo PLC
System blocks
2.8 DFIN_IO_DigitalFrequency (node number 21)
2.8.1 Inputs_DFIN
This SB can convert a pulse current at the digital frequency input X9 into a speed value and scale it.
The transmission is very precise without offset and gain errors.
In addition, this SB provides the phase correction value DFIN_dnIncLastScan_p which is
required within the calling task for phase processing of touch probe processes. (^ 2−33)
C0427 DFIN_IO_DigitalFrequency
X9
DFIN_nIn_v
C0425 C0426
4V
(X9/8) MONIT_SD3 DFIN_bEncFaultCable_b
MP DFIN_bTPReceived_b
0
TP/MP
0 -Ctrl DFIN_dnIncLastScan_p
E5 1
1
C0431 C0428 C0429
Fig. 2−15 DFIN_IO_DigitalFrequency
System variables
code format
DFIN_nIn_v Integer Velocity %IW21.0 C0426 dec [rpm] Value in inc/ms
DFIN_bEncFaultCable_b Bool Binary %IX21.1.0 − − TRUE = Monitoring
"FaultEncCable" has been
triggered because X9/8 is not
supplied with voltage and the
digital frequency coupling is thus
interrupted.
DFIN_bTPReceived_b Bool Binary %IX21.1.2 − − Receive touch probe (TP)
DFIN_dnIncLastScan_p Double integer Position %ID21.1 − − inc between TP and start of
the task
Stop!
The digital frequency input X9 cannot be used if
you use the digital frequency output X10 (C0540 = 0, 1, 2) and
an incremental encoder/sin−cos encoder!
2−28 9300 Servo PLC EN 4.1 L

9300 Servo PLC
System blocks
Tip!
The process image is newly created for every task the SB is used in.
If DFIN_nIn_v, DFIN_dnIncLastScan_p and DFIN_bTPReceived_b are used in several tasks,
each task creates its own SB process image.
This process is different from the previous process image creation principle!
The digital frequency input X9 is dimensioned for TTL−level signals.

The input of a zero track is optional.
Configuration of the number of increments

The drive can be adapted to the connected encoder or upstream controller with digital
frequency cascade or digital frequency bus under C0425.
Lenze Selection
C0425 DFIN const 3 Number of increments of the encoder
input
0 256increments per revolution
L 9300 Servo PLC EN 4.1 2−29

9300 Servo PLC
System blocks
Configuration of the digital frequency input signal

The type of the digital frequency input signal is configured under C0427:
Lenze Selection
C0427 DFIN function 0 Type of the digital frequency signal
0 2 phases
1 A = Speed / B = Direction
2 A or B = Speed or direction
C0427 = 0 (2 phases)
Track CW rotation CCW rotation

A
A A leads track B by 90º lags behind track B by 90º

B (DFIN_nIn_v = positive value) (DFIN_nIn_v = negative value)
B
Z B − −
Z
Signal sequence with phase shift (CW rotation)

C0427 = 1 (A = Speed / B = Direction)

A
A A transmits the speed transmits the speed

B
Z B = FALSE = TRUE
Z (DFIN_nIn_v = positive value) (DFIN_nIn_v = negative value)
Control of the direction of rotation via track B

C0427 = 2 (A or B = speed or direction)
A
A transmits the speed and the direction = FALSE
A
of rotation
B
(DFIN_nIn_v = positive value)
B
Z
B = FALSE transmits the speed and the direction
of rotation
Z
(DFIN_nIn_v = negative value)
Control of the speed and the direction of rotation

via track A or track B
2−30 9300 Servo PLC EN 4.1 L

9300 Servo PLC
System blocks
Transmission function
DFIN_nIn_v + f[Hz] @ 60 @ 2
14
numberofincrementsfromC0425 15000
Example:
Input frequency = 200 kHz
C0425 = 3, this corresponds to 2048 increments/rev.
DFIN_nIn_v[rpm] + 200000Hz @ 60 + 5859rpm

2048
Signal adaptation
Finer resolutions can be achieved by adding a downstream FB (e.g. L_CONV from the
LenzeDrive.lib):
X9 C0427 DF_IN L_CONV

DFIN_nIn_v nIn_a NNumerator nOut_a
Ndenominator
C0425 C0426
4V
DFIN_bTPReceived_b
0 TP/MP
E5
C0428 C0429
Fig. 2−16 Digital frequency input (DFIN_IO_DigitalFrequency) with downstream FB L_CONV for scaling
nOut_a + f[Hz] @ 60 @ nNumerator @ 2

14
numberofincrementsfromC0425 nDenominator 15000
L 9300 Servo PLC EN 4.1 2−31

9300 Servo PLC
System blocks
2.8.1.1 Technical data for the connection of X9
l = max. 50 m
X10 B B X9
B B
mm
2
AWG
1 1
A A
2 2 0.14 26
A A
3 3
enable Lamp control
4 4
GND GND
5 5 0.5 20
The connection is to be carried out as
Z Z
6 6 0.14 26
shown in the wiring diagram:
7
Z Z
7 Use cables which are twisted and
8 8 0.5 20 shielded in pairs.
Connect the shield at both ends.
9 9 0.14 26
Observe specified cable cross−sections.
Fig. 2−17 Connection of digital frequency output X10 with digital frequency input X9
Master drive
Slave drive
Cable cross−sections to be used
Note!
Digital frequency input (X8/X9) and digital frequency output (X10) cannot be used independently of
each other, i.e. either X8 or X9 is output to X10 (C0540 = 4, 5).
If the configuration under C0540 selects another output for X10 (C0540 = 0, 1, 2), the digital
frequency inputs X8/X9 are deactivated.
Digital frequency input X9

Technical data
Connection: Sub−D male connector, 9−pole
Output frequency: 0 − 500 kHz
Current consumption: Max. 6 mA per channel
Possible input signals: Incremental encoder with two 5 V complementary signals (TTL encoders), shifted by 90°
Encoder simulation of the master drive
Properties
Two−track with inverse 5 V signals and zero track
PIN 8 (LC) monitors the cable / the upstream drive controller:
– When PIN 8 is LOW, the "FaultEncCable" ("SD3") monitoring is triggered.
– If the monitoring is not required, this input can be connected to +5 V.
The digital frequency input is switched off with C0540 = 0, 1 or 2.
Assignment of the Sub−D male connector (X9)
PIN 1 2 3 4 5 6 7 8 9
Signal B A A +5 V GND Z Z LC B
Digital frequency output X10

See SB DFOUT_IO_DigitalFrequency. (^ 2−35)
2−32 9300 Servo PLC EN 4.1 L

9300 Servo PLC
System blocks
2.8.1.2 Touch probe (TP)

Process: The current phase value (digital frequency input value) is saved by a quick interrupt in the
operating system when a signal change occurs at the TP activating input (e.g. X5/E5).
X9 C0427 DF_IN L_CONV

DFIN_nIn_v nIn_a NNumerator nOut_a
Ndenominator
C0425 C0426
4V
DFIN_bTPReceived_b
X5 0 TP/MP
E5
C0428 C0429
Fig. 2−18 Function chart of a TP
Time−equidistant start of an interval task

Phase signal
Touch probe configuration

Lenze Selection
C0428 DFIN TP sel. 0 Touch probe selection
0 Touch probe via zero pulse
1 Touch probe through digital input X5/E5
C0429 TP delay 0 Touch probe delay
Compensation of delay times of
the TP signal source at X5/E5
−32767 {1 inc} 32767
C0431 DFIN TP EDGE 0 Touch probe activation
For touch probe via digital input
X5/E5 (C0428 = 1)
0 Activation with positive signal
1 Activation with negative signal
L 9300 Servo PLC EN 4.1 2−33

9300 Servo PLC
System blocks
Functional sequence
1. The TP is activated via a signal change at the digital input X5/E5 or via a zero pulse (only if an
encoder is connected).
2. If a TP has occurred, DFIN_bTPReceived_b is set = TRUE.
3. After the start of the task, DFIN_dnIncLastScan_p indicates the number of increments [inc]
counted since the TP.
4. Then DFIN_bTPReceived_b is set = FALSE.
Note!
It is necessary that all three outputs (DFIN_nIn_v, DFIN_bTPReceived_b and
DFIN_dnIncLastScan_p) are processed in the task even if just one signal is required.
The polarity of the digital input X5/E5 configured under C0114/5 does not affect the edge
evaluation.
DFIN_nIn_v
The value DFIN_nIn_v is scaled in increments per millisecond.
(INT) 16384 corresponds to 15000 rpm. See chapter 1.2.7, "Signal types and scalings". (^ 1−8)
For every task in which DFIN_nIn_v is used the operating system creates an individual
integrator that is reset after every start of the task (task−internal process image).
Example (DFIN_nIn_v in a 10 ms task):
When the 10 ms task starts, the value of the integrator is stored in a local area of the task and
the integrator is reset. The value in the local area gives an average value in increments per
1 ms.
If a position value is to be derived from this value, then it must be multiplied by
SYSTEM_nTaskInterval / 4 to get the result in increments per 10 ms, as in the example.
Example: In a 1−ms task, SYSTEM_nTaskInterval has the value 4 (4 x 250 s = 1 ms).
In the Lenze FBs this process is already implemented.
2.8.1.3 Encoder cable monitoring ("FaultEncCable")

PIN 8 (LC) of the digital frequency input X9 monitors the cable / the upstream drive controller:
When PIN 8 is LOW, the "FaultEncCable" ("SD3") monitoring is triggered and the system
variable DFIN_bEncFaultCable_b is set to TRUE.
If the monitoring is not required, this input can be connected to +5 V.
2−34 9300 Servo PLC EN 4.1 L

9300 Servo PLC
System blocks
2.9 DFOUT_IO_DigitalFrequency (node number 22)
2.9.1 Inputs_DFOUT / Outputs_DFOUT

This SB converts internal speed signals into frequency signals and outputs them to X10.
The transmission is very precise with the remainder being considered (no offset and gain
errors).
DFOUT_IO_DigitalFrequency
C0540
C0030
C0540
0
1
DFOUT_nOut_v C0549 DFOUT_nIn_v
2
4
5 C0547
nma x
CTRL C0540
X7
0 X10
1
C0545 2
4
X9
5
X8
Fig. 2−19 Digital frequency output (DF_OUT)
System variables
code format
DFOUT_nOut_v Integer Velocity %QW22.0 C0547 dec [%]
C0549 dec [rpm]
DFOUT_nIn_v Integer Velocity %IW22.0 − −
Tip!
The process image is newly created for every task the SB is used in.
If DFOUT_nIn_v and DFOUT_nOut_v are used in several tasks, an own process image of the
SB is created for each of these tasks.
This process is different from the previous process image creation principle!
The signals of the digital frequency output X10 are TTL−compatible.

The output signal corresponds to the simulation of an incremental encoder:
– Track A, track B and the zero track (if necessary) as well as the corresponding inverted
tracks are output with tracks shifted by 90°.
L 9300 Servo PLC EN 4.1 2−35

9300 Servo PLC
System blocks
Configuration of the digital frequency output signal

The type of the digital frequency output signal is configured under C0540:
Lenze Selection
C0540 Function 2 Digital frequency output: Function
X9 is inhibited if 0, 1, or 2 have
been selected.
DFOUT_nIn_v = 0 if 4 or 5 have
been selected.
The input signals are buffered
electrically.
0 DFOUT_nOut_v as %
1 DFOUT_nOut_v as rpm
2 Incremental encoder simulation + zero pulse
4 X9 is output on X10
C0540 = 0 Output of an analog signal

Function The input signal DFOUT_nOut_v is interpreted as an analog signal [%] and is output as a frequency signal on the
digital frequency output X10.
Scaling 100 % (INT)16384 C0011 (nmax)
Transmission function
C0011(n max)
f[Hz] + DFOUT_nOut_v[%] @ numberofincrementsfromC0030 @
100 60
60 14
DFOUT_nIn_v + f[Hz] @ @ 2
number of increments from C0030 15000
Example DFOUT_nOut_v = 50 %
C0030 = 3, this corresponds to a number of increments of 2048 increments/revolution
C0011 = 3000 rpm
f[Hz] + 50% @ 2048 @ 3000 + 51200Hz

100 60
C0540 = 1 Output of a speed signal
Function The input signal DFOUT_nOut_v is interpreted as a speed signal [rpm] and is output as a frequency signal on the
digital frequency output X10.
Scaling 15000 rpm (INT)16384
Transmission function number of increments from C0030
f[Hz] + DFOUT_nOut_v[rpm] @
60
Example DFOUT_nOut_v = 3000 rpm
C0030 = 3, this corresponds to a number of increments of 2048 increments/revolution
f[Hz] + 3000rpm @ 2048 + 102400Hz

60
C0540 = 2 Encoder simulation of the resolver with zero track in resolver position
Function The function is used if a resolver is connected to X7.
The encoder constant for the output X10 is set under C0030.
The output of the zero pulse referring to the rotor depends on how the resolver is attached to the motor.
The zero pulse can be shifted by +360 ° under C0545 (65536 inc = 360 °).
C0540 = 4 Direct output of X9
Function Use of X9 as a digital frequency input.
The input signal at X9 is electrically amplified and is directly output to X10.
The signals depend on the assignment of input X9.
C0030 and C0545 have no function.
The zero track is only output if it is also connected to X9.
C0540 = 5 Direct output of X8
Function Use of X8 as an input for incremental encoders or sin/cos encoders.
The input signal at X8 is electrically amplified and is directly output to X10.
The signals depend on the assignment of input X8.
C0030 and C0545 have no function.
The zero track is only output if it is also connected to X8.
2−36 9300 Servo PLC EN 4.1 L

9300 Servo PLC
System blocks
Configuration of the encoder constant

The encoder constant of the encoder simulation can be set under C0030:
Lenze Selection
C0030 DFOUT const 3 Encoder constant
2.9.1.1 Technical data for the connection of X10
l = max. 50 m
X10 B B X9
B B
mm
2
AWG
1 1
A A
2 2 0.14 26
A A
3 3
enable Lamp control
4 4
GND GND
5 5 0.5 20
The connection is to be carried out as
Z Z
6 6 0.14 26
shown in the wiring diagram:
7
Z Z
7 Use cables which are twisted and
8 8 0.5 20 shielded in pairs.
Connect the shield at both ends.
9 9 0.14 26
Observe specified cable cross−sections.
Fig. 2−20 Connection of digital frequency output X10 with digital frequency input X9
Master drive
Slave drive
Cable cross−sections to be used
Note!
Digital frequency input (X8/X9) and digital frequency output (X10) cannot be used independently of
each other, i.e. either X8 or X9 is output to X10 (C0540 = 4, 5).
If the configuration under C0540 selects another output for X10 (C0540 = 0, 1, 2), the digital
frequency inputs X8/X9 are deactivated.
L 9300 Servo PLC EN 4.1 2−37

9300 Servo PLC
System blocks
Digital frequency output X10

Technical data
Connection: Sub−D female connector, 9−pole
Output frequency: 0 − 500 kHz
Ampacity: Max. 20 mA per channel
Load capacity: With a parallel connection, a maximum of 3 slave drives can be connected.
With a series connection, any number of slave drives can be connected.
Properties
Two−track with inverse 5 V signals and zero track
When PIN 8 (EN) is LOW, the master drive is being initialised (e.g. if the mains was disconnected in the meantime).
The slave drive can thus monitor the master.
Assignment of the Sub−D connector (X10)
PIN 1 2 3 4 5 6 7 8 9
Signal B A A +5 V GND Z Z EN B

A
A A leads track B by 90º lags behind track B by 90º

B (DFIN_nIn_v = positive value) (DFIN_nIn_v = negative value)
B
Z B − −
Z
Signal sequence with phase shift (CW rotation)
Note!
The digital frequency output X10 has a system−dependent delay time Td which can be calculated
using the following formula:
Td = Task cycle time (process image cycle) − 1 ms
Example: If DFOUT_nOut_v is written to in a "10−ms task", the signal at X10 has a delay time Td of
9 ms (10 ms − 1 ms).
Digital frequency input X9

See SB DFIN_IO_DigitalFrequency. (^ 2−28)
2−38 9300 Servo PLC EN 4.1 L

9300 Servo PLC
System blocks
2.10 DIGITAL_IO (node number 1)
2.10.1 Inputs_DIGITAL (digital inputs)

This SB reads in the signals at the terminals X5/E1 ... E5 and X5/28 and conditions them.
Inputs_DIGITAL DCTRL-X5/28
X5
DIGIN_bCInh_b
28
DIGIN_bIn1_b
E1 C0114/1...5 DIGIN_bIn2_b
E2 DIGIN_bIn3_b
0
DIGIN_bIn4_b
E3 1
1 DIGIN_bIn5_b
E4
E5 C0443
Fig. 2−21 Inputs_DIGITAL
System variables
code format
DIGIN_bCInh_b %IX1.0.0 − − Controller inhibit (CINH) acts
directly on the DCTRL control.
DIGIN_bIn1_b %IX1.0.1
DIGIN_bIn2_b Bool Binary %IX1.0.2
DIGIN_bIn3_b %IX1.0.3 C0443 bin
Electrical data of the input terminals

X5/28 Controller enable (RFR) LOW level: 0 ... +4 V
X5/E1 Interrupt−capable1 HIGH level: +13 ... +30 V
X5/E2 Touch−probe−capable2 Input current: 8 mA per input (at 24 V)
X5/E3
Freely
X5/E4 TP signal, actual motor speed assignable
1 Response time of the interrupt task: < 250 s
X7 (resolver), X8 (encoder) 2 Use of X5/E1 ... E3 as a touch probe input:
X5/E5 TP signal See "Function library LenzeTpDrv.lib" manual
X9 (digital frequency input)
X5/39 Ground (GND) of digital inputs and outputs
The terminal polarity of the inputs X5/E1 ... E5 can be configured under C0114:
Lenze Selection
C0114 DIGIN pol Terminal polarity
0 HIGH active
1 LOW active
1 1 X5/E1
2 1 X5/E2
3 0 X5/E3
4 0 X5/E4
5 0 X5/E5
L 9300 Servo PLC EN 4.1 2−39

9300 Servo PLC
System blocks
2.10.2 Outputs_DIGITAL (digital outputs)

This SB conditions the digital signals and outputs them at terminals X5/A1 ... A4.
Outputs_DIGITAL
DIGOUT_bOut1_b
DIGOUT_bOut2_b C0118/1...4 X5
DIGOUT_bOut3_b A1
0
DIGOUT_bOut4_b
1 A2
1
A3
C0444/1...4 A4
Fig. 2−22 Outputs_DIGITAL
System variables
code format
DIGOUT_bOut1_b %QX1.0.0 C0444/1
Bool Binary bin
Electrical data of the output terminals

X5/A1 LOW level: 0 ... +4 V
HIGH level: +13 ... +30 V
X5/A2 Output current: Max. 50 mA per output
Freely assignable (external resistance
480 at 24 V)
X5/A3
Delay times: 300 s with rising edge
X5/A4 100 s with falling edge
X5/39 Ground (GND) of digital inputs and outputs
The terminal polarity of the outputs X5/A1 ... A4 can be configured under C0118:
Lenze Selection
C0118 DIGOUT pol Terminal polarity
0 HIGH active
1 LOW active
1 0 X5/A1
2 0 X5/A2
3 0 X5/A3
4 0 X5/A4
2−40 9300 Servo PLC EN 4.1 L

9300 Servo PLC
System blocks
2.11 FCODE_FreeCode (node number 141)

At Lenze, controller parameters are called codes. The PLC can be adapted to your application
without additional programming by changing codes.
This SB provides several variables for directly reading out the assigned "free" codes of the PLC and
for processing them in the PLC program.
FCODE_FreeCodes
FCODE_nC17_a
C0017 rpm TO INT
FCODE_nC26_1_a
C0026/1
FCODE_nC26_2_a
C0026/2
% TO INT FCODE_nC27_1_a
C0027/1
FCODE_nC27_2_a
C0027/2
FCODE_nC32_a
C0032 INT
FCODE_nC37_a
C0037 rpm TO INT
FCODE_nC108_1_a
C0108/1
FCODE_nC108_2_a
C0108/2
FCODE_nC109_1_a
C0109/1 % TO INT
FCODE_nC109_2_a
C0109/2
FCODE_nC141_a
C0141
FCODE_bC250_b
C0250 BOOL
FCODE_bC471Bit0_b
DWORD
...
C0471 TO
BIT/BOOL FCODE_bC471Bit31_b
FCODE_nC472_1_a
...
C0472/1...20 % TO INT
FCODE_nC472_20_a
FCODE_nC473_1_a
...
C0473/1...10 INT FCODE_nC473_10_a
FCODE_dnC474_1_p
...
C0474/1...5 DINT FCODE_dnC474_5_p
FCODE_nC475_1_v
C0475/1
INT FCODE_nC475_2_v
C0475/2
FCODE_bC135Bit0_b
...
C0135 16 Bit FCODE_bC135Bit15_b
Fig. 2−23 FCODE_FreeCodes
The PLC codes listed in the boxes ( ) on the left−hand side are assigned to the variables
listed on the right−hand side.
Code values are converted into variable values according to a fixed scaling routine.
In the code table, you can find the options that can be set and the Lenze settings. (^ 3−22)
Example
You can enter a percentage value [%] in PLC code C0472/1 (e.g. via the keypad). This value is directly
assigned to the variable FCODE_nC472_1_a (data type "integer") via a fixed scaling routine and can
be processed in the PLC program.
L 9300 Servo PLC EN 4.1 2−41

9300 Servo PLC
System blocks
System variables
code format
FCODE_nC17_a %IW141.0 Default = 50 rpm
FCODE_nC26_1_a %IW141.2 Default = 0.00 %
FCODE_nC32_a %IW141.6 Default = 1
Integer Analog − −
FCODE_nC37_a %IW141.7 Default = 0 rpm
FCODE_nC141_a %IW141.12 Default = 0.00 %
FCODE_bC250_b Bool Binary %IX141.13.0 − − Default = 0
FCODE_bC471Bit0_b %IX141.14.0
... ...
Bool Binary − − Default = 0
... ...
FCODE_nC472_1_a %IW141.16
Default = 0.00 %
... Integer Analog ... − −
C0472/3 = 100.00 %
FCODE_nC472_20_a %IW141.35
FCODE_nC473_1_a %IW141.36
Default = 0
... Integer Analog ... − −
C0473/1, 2 = 1
FCODE_nC473_10_a %IW141.45
FCODE_dnC474_1_p %ID141.23
... Double integer Position ... − − Default = 0
FCODE_dnC474_5_p %ID141.27
FCODE_nC475_1_v %IW141.56
Integer Velocity − − Default = 0
FCODE_nC475_2_v %IW141.57
... Bool Binary ... − − Default = 0
2−42 9300 Servo PLC EN 4.1 L

9300 Servo PLC
System blocks
Note!
The free code C0470 is stored under the same memory address as C0471 and can thus be read out
via the variables FCODE_bC471Bit0_b ... FCODE_bC471Bit31_b assigned to code C0471.
Unlike code C0471, which can contain a 32−bit value, code C0470 is divided into 4 subcodes with
8 bits each:

Lenze Selection
C0470 FCODE 8bit Freely configurable code (digital
signals)
C0470 has the same memory
address as C0471.
Hexadecimal value is
bit−coded.
0 {hex} FFFF
1 0 C0470/1 = C0471, bit 0 ... 7
2 0 C0470/2 = C0471, bit 8 ... 15
3 0 C0470/3 = C0471, bit 16 ... 23
4 0 C0470/4 = C0471, bit 24 ... 31
C0471 FCODE 32bit 0 Freely configurable code (digital
signals)
Variables assigned via
FCODE_FreeCodes:
FCODE_bC471Bit0_b ...
FCODE_bC471Bit31_b
C0471 has the same memory
address as C0470.
0 {1} 4294967296
L 9300 Servo PLC EN 4.1 2−43

9300 Servo PLC
System blocks
2.12 MCTRL_MotorControl (node number 131)

This SB contains the control function for the driving machine. It consists of phase control, speed
control and motor control.
MCTRL_MotorControl
MCTRL_bQspOut_b MCTRL_bQspIn_b
C0907/3 C0042
MCTRL_nHiMLim_a
C0906/4
MCTRL_nLoMLim_a
MCTRL_nNSetIn_a
C0906/3
MCTRL_bNMSwt_b
C0050
C0907/2
MCTRL_nNAdapt_a
C0070
C0056
MCTRL_bILoad_b MCTRL_bMMax_b
C0907/4 MCTRL_nMSetIn_a
MCTRL_nISet_a
MCTRL_bIMax_b
C0906/8 MCTRL_nIAct_a
C0105 MCTRL_nDCVolt_a
C0909
-+100% 1
MCTRL_nMAct_a
MCTRL_nNSet_a 0 1 MCTRL_wMmaxC57
C0906/1 0
C0254 0
MCTRL_nPAdapt_a 1 VECT_CTRL PWM
1 1 C0072
C0906/9 0
0
C0070
MCTRL_dnPosSet_p 0 C0071
C0908 C0006 C0018 MONIT-LU MCTRL_bUnderVoltage_b
MCTRL_nPosLim_a C0022
C0075
C0906/5 C0076 C0173
MCTRL_bPosOn_b C0077
C0086 C0078 UG-VOLTAGE MONIT-OU MCTRL_bOverVoltage_b
C0907/1 C0081
C0053
MCTRL_nNStartmLim_a C0084
C0085 const
C0906/6 C0087 MCTRL_bShortCircuit_b
C0088 Imotor MONIT-OC1
MCTRL_nMAdd_a
C0089 C0022
C0906/2 C0090 const
MCTRL_nFldWeak_a C0091
C0111 MONIT-OC2 MCTRL_bEarthFault_b
C0906/7 C0575
C0576
C0579 MONIT-OC5 MCTRL_bIxtOverload_b
>1,50INX
MONIT nErr MCTRL_bSpeedLoopFault_b
const
MCTRL_nPos_a
MCTRL_nNAct_v
Resolver
X7 MCTRL_nNAct_a
C0051 MCTRL_dnPos_p
C0596
C0420
C0490 C0025 C0011 C0496 MCTRL_bNmaxFault_b
C0497 MONIT-NMAX
C0495
C0098 MCTRL_nNmaxC11
0
Encoder 1
MCTRL_bActTPReceived_b
X8 2 0
3 TP/MP
1 MCTRL_dnActIncLastScan_p
4 0 -Ctrl
E4
1
const
C0490 C0912 C0911 C0910
MONIT-Sd2 MCTRL_bResolverFault_b
const
MONIT-Sd6 MCTRL_bSensorFault_b
OR
const
MONIT-Sd7 MCTRL_bEncoderFault_b
const
MONIT-Sd8 MCTRL_bSinCosFault_b
150°C
Mot temp (X7 or X8) MONIT-OH3 MCTRL_bMotorTempGreaterSetValue_b
C0063
C0121
MONIT-OH7 MCTRL_bMotorTempGreaterC0121_b
DIN44081
Terminal (T1/T2) MONIT-OH8 MCTRL_bPtcOverTemp_b
85°C
Heatsink temp MONIT-OH MCTRL_bKuehlGreaterSetValue_b
C0061
C0122
MONIT-OH4 MCTRL_bKuehlGreaterC0122_b
MONIT-PL MCTRL_bRotorPositionFault_b
MONIT-LP1 MCTRL_bMotorphaseFail_b
Fig. 2−24 MCTRL_MotorControl
The process image is created in the course of a fixed system task (interval: 1 ms).
Exception: MCTRL_bActTPReceived_b, MCTRL_dnActIncLastScan_p and MCTRL_nNAct_v
are read into the process input image of the task in which they are actually used.
2−44 9300 Servo PLC EN 4.1 L

9300 Servo PLC
System blocks
2.12.1 Inputs_MCTRL
System variables
code format
%IX131.0.0. TRUE = Drive carries out quick stop
MCTRL_bQspIn_b Bool Binary C0042 bin
0 (QSP)
Speed setpoint
MCTRL_nNSetIn_a Integer Analog %IW131.1 C0050 dec [%]
16384 100 % nmax (C0011)
TRUE = Speed controller operates
MCTRL_bMMax_b Bool Binary %IX131.0.2 − −
within the limits.
Torque setpoint
MCTRL_nMSetIn_a Integer Analog %IW131.3 C0056 dec [%]
16384 100 % Mmax (C0057)
TRUE = Drive operates at current limit
MCTRL_bIMax_b Bool Binary %IX131.0.1 − −
C0022
Actual motor current
MCTRL_nIAct_a %IW131.5
16384 100 % Imax (C0022)
DC voltage
MCTRL_nDCVolt_a Integer Analog %IW131.6 − − 16384 1000 V
Actual torque
MCTRL_nMAct_a %IW131.4
16384 100 % Mmax (C0057)
Display of maximum torque
MCTRL_wMmaxC57 Word − %IW131.16 − −
(C0057) x 10
MCTRL_bUndervoltage_b %IX131.0.3 Monitoring: Undervoltage
MCTRL_bOvervoltage_b %IX131.0.4 Monitoring: Overvoltage
MCTRL_bShortCiruit_b %IX131.0.5 Monitoring: Short circuit
MCTRL_bEarthFault_b Bool Binary %IX131.0.6 − − Monitoring: Earth fault
MCTRL_bIxtOverload_b %IX131.9.2 Monitoring: I x t overload
MCTRL_bSpeedLoop Monitoring: Speed out of tolerance
%IX131.9.4
Fault_b margin
Actual phase value as an analog signal
MCTRL_nPos_a Integer Analog %IW131.7 − −
90° 100%
MCTRL_nNAct_v Integer Velocity %IW131.8 − − Actual speed value [inc/ms]
Actual speed value
MCTRL_nNAct_a Integer Analog %IW131.2 − −
16384 100 % nmax (C0011)
Double
MCTRL_dnPos_p Position %ID131.5 − − Rotor position of the motor
integer
Monitoring: Max. system speed
MCTRL_bNmaxFault_b Bool Binary %IX131.0.7 − −
exceeded
MCTRL_nNmaxC11 Integer − %IW131.15 − − Display of max. speed (C0011)
MCTRL_bActTP
Bool Binary %IX131.0.10 − − Receive touch probe (TP)
Received_b
MCTRL_dnActIncLast Double
Position %ID131.6 − − inc during TP and task start
Scan_p integer
L 9300 Servo PLC EN 4.1 2−45

9300 Servo PLC
System blocks

code format
MCTRL_bResolverFault_b %IX131.0.8 Monitoring: Resolver error
MCTRL_bEncoderFault_b %IX131.9.1 Monitoring: Encoder error
MCTRL_bSensorFault_b %IX131.9.0 Monitoring: Thermal sensor error
MCTRL_bSinCosFault_b Monitoring: Absolute value encoder
%IX131.9.3
error
MCTRL_bMotorTemp Monitoring: Motor temperature
%IX131.0.11
GreaterSetValue_b > 150 ºC
MCTRL_bMotorTemp Monitoring: Motor temperature
%IX131.0.12
GreaterC0121_b > C0121
MCTRL_bPtcOverTemp_b Bool Binary − − Monitoring: Motor overtemperature
%IX131.0.13
(PTC)
MCTRL_bKuehl Monitoring: Heatsink temperature
%IX131.0.14
GreaterSetValue_b > 85 ºC
MCTRL_bKueh Monitoring: Heatsink temperature
%IX131.0.15
GreaterC0122_b > C0122
MCTRL_bRotorPosition Monitoring: Error during last rotor
%IX131.9.5
Fault_b position adjustment
MCTRL_bMotorphase Monitoring: Motor phase failure
%IX131.9.6
Fail_b detection
2.12.2 Outputs_MCTRL
System variables
code format
TRUE = Drive carries out quick stop
MCTRL_bQspOut_b Bool Binary %QX131.0.0 C0907/3 bin
(QSP)
Upper torque limitation
MCTRL_nHiMLim_a %QW131.4 C0906/4
in % of C0057
Integer Analog dec [%]
Lower torque limitation
MCTRL_nLoMLim_a %QW131.3 C0906/3
in % of C0057
FALSE = Speed control
MCTRL_bNMSwt_b Bool Binary %QX131.0.1 C0907/2 bin
TRUE = Torque control
Adaptive proportional gain (Vp) of the
MCTRL_nNAdapt_a Integer Analog %QW131.12 − −
speed controller
TRUE = Integral action component of
MCTRL_bILoad_b Bool Binary %QX131.0.3 C0907/4 bin the speed controller is accepted by
MCTRL_nISet_a
Integral action component of the
MCTRL_nISet_a %QW131.7 C0906/8
speed controller
MCTRL_nNSet_a %QW131.1 C0906/1 Speed setpoint
Integer Analog dec [%] Effect of C0254 on proportional gain
(Vp) in %,
MCTRL_nPAdapt_a %QW131.8 C0906/9
The absolute value (without sign) is
processed.
Double Deviation of set phase to actual phase
MCTRL_dnPosSet_p Position %QD131.5 C0908 dec [inc]
integer for phase controller
Effect of the phase controller
MCTRL_nPosLim_a Integer Analog %QW131.9 C0906/5 dec [%]
In % of nmax (C0011)
MCTRL_bPosOn_b Bool Binary %QX131.0.2 C0907/1 − TRUE = Activate phase controller
MCTRL_nNStartMLim_a %QW131.5 C0906/6 Lower speed limit for speed limitation
Additional torque setpoint or torque
MCTRL_nMAdd_a Integer Analog %QW131.2 C0906/2 dec [%] setpoint
MCTRL_nFldWeak_a %QW131.6 C0906/7 Motor control
2−46 9300 Servo PLC EN 4.1 L

9300 Servo PLC
System blocks
2.12.3 Current controller
Tip!
Select a matching motor from the "Motor selection list" under C0086. This automatically sets the
correct parameters for the current controller.
The "Motor selection list" can be found in the Mounting Instructions for the 9300 Servo PLC.
To adapt the current controller to the connected machine, set the controller’s proportional gain
under C0075 and the controller’s reset time under C0076:
Lenze Selection
C0075 Vp curr CTRL
Proportional gain of current controller
(Vpi)

Dependent on C0086
If C0086 is changed, the value is
reset to the assigned Lenze
setting.
0.00 {0.01} 15.99
C0076 Tn curr CTRL
Reset time of current controller (Tni)

Dependent on C0086
setting.
0.5 {0.1 ms} 2000.0
2000 ms = switched off
L 9300 Servo PLC EN 4.1 2−47

9300 Servo PLC
System blocks
2.12.4 Torque setpoint / additional torque setpoint

MCTRL_nMAdd_a is − depending on the setting of (MCTRL_bNMSwt_b) − used as a torque setpoint
or as an additional torque setpoint.
Torque setpoint
With MCTRL_bNMSwt_b = TRUE, the torque control is active.
MCTRL_nMAdd_a acts as a torque setpoint.
The speed controllers have a monitoring function.
The torque setpoint is selected in [%] of the max. possible torque.
– Negative values mean a torque with CCW rotation of the motor.
– Positive values mean a torque with CW rotation of the motor.
The max. possible torque is set under C0057:
Lenze Selection
C0057 Max torque g Maximum possible torque of the drive
configuration
Dependent on C0022, C0086
0.0 {0.1 Nm} 500.0
Additional torque setpoint

With MCTRL_bNMSwt_b = FALSE, the speed control is active.
MCTRL_nMAdd_a is added to the output of the speed controller.
The limits given by the torque limitation MCTRL_nLoMLim_a and MCTRL_nHiMLim_a cannot
be exceeded.
The additional torque setpoint can, for instance, be used for friction compensation or to add
acceleration (dv/dt).
2−48 9300 Servo PLC EN 4.1 L

9300 Servo PLC
System blocks
2.12.5 Torque limitation

Via MCTRL_nLoMLim_a and MCTRL_nHiMLim_a you can set an external torque limitation. This
means that different torques can be selected for the quadrants "driving" and "braking".
MCTRL_nHiMLim_a is the upper torque limit in [%] of the max. possible torque.
MCTRL_nLoMLim_a is the lower torque limit in [%] of the max. possible torque.
The max. possible torque is set under C0057. (^ 2−48)
Stop!
Only set positive values in MCTRL_nHiMLim_a and negative values in MCTRL_nLoMLim_a,
otherwise the speed controller may be unable to perform its intended control function. This can result
in an uncontrolled acceleration of the drive.
Tip!
If MCTRL_nHiMLim_a is not assigned (free), the upper torque limit automatically is 100 % of
the max. possible torque.
If MCTRL_nLoMLim_a is not assigned (free), the lower torque limit automatically is −100 % of
the max. possible torque.
At quick stop (QSP) the torque limitation is deactivated, i.e. the drive is operated with 100 %.
L 9300 Servo PLC EN 4.1 2−49

9300 Servo PLC
System blocks
2.12.6 Maximum speed

The maximum speed (nmax) is set under C0011. This value is used as a reference for the absolute and
relative setpoints selected for the acceleration and deceleration times and for the upper and lower
speed limits.
nmax = 100 % (INT) 16384
Lenze Selection
C0011 Nmax 3000 Maximum speed
Reference value for the absolute and
relative setpoint selection for the
acceleration and deceleration times.
For parameterisation via interface:
Large changes in one step should
only be made when the controller
is inhibited.
500 {1 rpm} 16000
Tip!
MCTRL_nNmaxC11 displays the maximum speed set under C0011.
Use this system variable for programming your own speed scalings.
Example: C0011 = 3000 rpm MCTRL_nNmaxC11 = 3000
2−50 9300 Servo PLC EN 4.1 L

9300 Servo PLC
System blocks
2.12.7 Speed controller

The speed controller is designed as an ideal PID controller.
Parameter setting
By selecting a motor under C0086 the parameters are preset, making most adaptations to the
application unnecessary.
The proportional gain Vp can be set under C0070:
– Enter approx. 50 % of the speed setpoint (100 % = 16384 = nmax).
– Increase C0070 until the drive becomes unstable (pay attention to motor noise)
– Reduce C0070 until the drive runs stable again.
– Reduce C0070 to approx. half the value.
Lenze Selection
C0070 Vp speed CTRL
Proportional gain of speed controller
(Vpn)

Dependent on C0086
setting.
0.0 {0.5} 255.0
The reset time Tn can be set under C0071:

– Reduce C0071 until the drive becomes unstable (pay attention to motor noise).
– Increase C0071, until the drive runs stable again.
– Increase C0071 to approx. twice the value.
Lenze Selection
C0071 Tn speed CTRL
Reset time of speed controller (Tnn)

Dependent on C0086
setting.
1.0 {0.5 ms} 600.0
>512 ms = switched off
The derivative gain Td can be set under C0072:

– Increase C0072 during operation until the drive reaches an optimum control performance.
Lenze Selection
C0072 Td speed CTRL 0.0 Derivative gain of speed controller
(Tdn)
0.0 {0.1 ms} 32.0
Via MCTRL_nNAdapt_a the proportional gain Vp can be changed using the PLC program:
Vp = MCTRL_nNAdapt_a [%] C0070
Default: MCTRL_nNAdapt_a= 100 % Vp = 100 % C0070 = C0070
L 9300 Servo PLC EN 4.1 2−51

9300 Servo PLC
System blocks
Signal limitation
If the drive outputs the maximum torque, the speed controller operates within the limitation.
The drive cannot follow the speed setpoint.
MCTRL_bMMax_b is set to TRUE.
Set integral action component

To select defined starting values for the torque, the integral action component of the speed controller
can be set externally (e.g. when using the brake control).
MCTRL_bILoad_b = TRUE
– The speed controller accepts the value at MCTRL_nISet_a for its integral action component.
– The value at MCTRL_nISet_a acts as a torque setpoint for the motor control.
MCTRL_bILoad_b = FALSE
– Function is switched off.
2.12.8 Torque control with speed limitation

Set MCTRL_bNMSwt_b = TRUE to activate this function.
For limiting the speed, a second speed controller (auxiliary speed controller) is connected.
MCTRL_nMAdd_a acts as a bipolar torque setpoint.
The speed controller 1 generates the upper speed limit.
– The upper speed limit is passed to MCTRL_nNSet_a in [%] of nmax
(positive sign for CW direction of rotation).
The speed controller 2 (auxiliary speed controller) generates the lower speed limit.
– The lower speed limit is passed to MCTRL_nNStartLim_a in [%] of nmax
(negative sign for CCW direction of rotation).
nmax is selected under C0011. (^ 2−50)
Stop!
Use
the upper speed limit only for CW rotation (positive values) and
the lower speed limit only for CCW rotation (negative values),
otherwise the drive can accelerate in an uncontrolled way!
2.12.9 Speed setpoint limitation

The speed setpoint limitation can be set under C0909:
Lenze Selection
C0909 speed limit 1 Speed setpoint limitation
1 −175 % ... +175 %
2 0 % ... +175 %
3 −175 % ... 0 %
Select the speed setpoint via MCTRL_nNSet_a in [%] of nmax.

nmax is selected under C0011. (^ 2−50)
2−52 9300 Servo PLC EN 4.1 L

9300 Servo PLC
System blocks
2.12.10 Phase controller

The phase controller is needed, i.a., to ensure phase−synchronous operation and drift−free standstill.
Parameter setting
1. Assign MCTRL_nPosSet_a to a signal source which provides the phase difference between
set phase and actual phase.
2. Define a value > 0 for MCTRL_nPosLim_a.
3. Set MCTRL_bPosOn_b = TRUE.
4. Set the gain of the phase controller > 0 via C0254.
– Before setting C0254, select a proportional gain for the speed controller as high as possible
under C0070. (^ 2−51)
– Increase C0254 during operation until the drive shows the required control performance.
Lenze Selection
C0254 Vp angle CTRL 0.4000 Gain of phase controller (Vp)
0.0000 {0.0001} 3.9999
Effect of the phase controller

The output of the phase controller is added to the speed setpoint.
If the actual phase is lagging, the drive is accelerated.
If the actual phase is leading, the drive is decelerated until the desired phase synchronisation
is achieved.
The influence of the phase controller consists of:
Phase difference multiplied by the gain Vp (C0254).
Additional influence via an analog signal at MCTRL_nPAdapt_a.
(Vp = C0254 MCTRL_nPAdapt_a / 16384)
Limitation of the phase controller output to MCTRL_nPosLim_a.
Limitation of the phase controller output

This value limits the maximum compensation speed of the drive in the event of large phase
differences.
L 9300 Servo PLC EN 4.1 2−53

9300 Servo PLC
System blocks
2.12.11 Quick stop (QSP)

The QSP function is used to stop the drive independently of the selected setpoint within an adjustable
time interval.
The QSP function is active if MCTRL_bQsp_b is set = TRUE.
If the SB DCTRL_DriveControl is to trigger QSP, the QSP function must be programmed as
follows:
DCTRL_bQspIn_b MCTRL_bQspOut_b
OR
Any Variable C0907/3
MCTRL_nHiMLim_a
C0906/4
MCTRL_nLoMLim_a
C0906/3
MCTRL_bNMSwt_b
C0907/2
Fig. 2−25 Programming of the QSP function if SB DCTRL_DriveControl is to trigger QSP
Function:
If torque control is selected, it will be deactivated. The drive is controlled by the speed
controller.
Speed is reduced to 0 within the deceleration time set under C0105:
Lenze Selection
Referred to speed change
nmax ... 0.
0.000 {0.001 s} 999.900
The torque limits MCTRL_nLoMLim_a and MCTRL_nHiMLim_a are deactivated, i.e. the drive is
operated with 100 %. (^ 2−49)
The phase controller is activated. If the rotor position is shifted actively, the drive generates a
torque against this displacement if
– C0254 is set non−zero,
– MCTRL_nPosLim_a is triggered with a value > 0 %.
Stop!
If the field is weakened manually (MCTRL_nFldWeak_a < 100 %), the drive cannot supply the
maximum torque.
2−54 9300 Servo PLC EN 4.1 L

9300 Servo PLC
System blocks
2.12.12 Field weakening

Adjusting the field weakening range is not required if the motor type has been set under C0086. In
this case all necessary parameters are set automatically.
The motor is operated in the field weakening range if
the output voltage of the controller exceeds the rated motor voltage set under C0090.
the controller cannot increase the output voltage with increasing speed because of the mains
voltage / DC−bus voltage.
Under C0575 you can set a factor between 1 ... 8 to limit the maximum field weakening. "8" means
that the maximum field weakening is 8−fold.
Manual field weakening

The field can be weakened manually via MCTRL_nFldWeak_a.
For maximum excitation MCTRL_nFldWeak_a must be actuated with +100 % (= 16384).
If MCTRL_nFldWeak_a is not assigned (free), the field weakening is automatically +100 %.
Stop!
The available torque is reduced by the field weakening.
2.12.13 Switching frequency changeover

The following switching frequencies can be set for the inverter under C0018:
8 kHz for power−optimised operation maximum power output of the controller, but with
audible pulse operation.
16 kHz for noise−optimised operation inaudible pulse operation of the controller, but with
reduced power output (torque).
Automatic changeover between power−optimised and noise−optimised operation.
Lenze Selection
C0018 fchop 1 Switching frequency
0 16/8 kHz automatic changeover Optimum noise reduction with
automatic changeover to 8 kHz
1 8 kHz sine Power−optimised operation
2 16 kHz sine Noise−optimised operation
Automatic switching frequency changeover

You can use the automatic switching frequency changeover if you want to operate the drive in the
noise−optimised range but the torque available in this mode is not high enough for acceleration
processes.
Condition M = f(I) Function
M < Mr16 (Ir16) Controller operates with 16 kHz (noise−optimised)
Mr16 (Ir16) < M < Mr8 (Ir8) Controller switches to 8 kHz (power−optimised)
M > Mmax8 (Imax8) Controller operates with 8 kHz at its current limit
L 9300 Servo PLC EN 4.1 2−55

9300 Servo PLC
System blocks
2.12.14 Feedback systems

The following codes can be used to configure the feedback systems for position and speed
controllers:
Code LCD Possible settings IMPORTANT
Lenze Selection
[C0420] Encoder const 512 Encoder: Constant for encoder input
X8
1 {1 inc/rev} 8192
[C0490] Feedback pos 0 Feedback system for the position
controller
C0490 = 0, 1, 2 can be mixed
with C0495 = 0, 1, 2.
C0490 = 3, 4 also sets C0495 to
the same value.
0 Resolver at X7
1 Encoder TTL at X8
2 Sin/cos encoder at X8
3 Absolute value encoder ST at X8
4 Absolute value encoder MT at X8
[C0495] Feedback n 0 Feedback system for the speed
controller
C0495 = 0, 1, 2 can be mixed
with C0490 = 0, 1, 2.
C0495 = 3, 4 also sets C0490 to
the same value.
0 Resolver at X7
1 Encoder TTL at X8
3 Absolute value encoder ST (single turn) at X8
4 Absolute value encoder MT (multi turn) at X8
C0497 Nact filter 2.0 Actual speed value filter time constant
PT1
0.0 {0.1 ms} 50.0
0 ms = switched off
2−56 9300 Servo PLC EN 4.1 L

9300 Servo PLC
System blocks
2.12.15 Touch probe (TP)

Process: The current phase value (digital frequency input value) is saved by a quick interrupt in the
operating system when a signal change occurs at the TP activating input (e.g. X5/E4).
TP
MCTRL_dnActIncLastScan_p
j
Fig. 2−26 Function chart of a TP
Time−equidistant start of an interval task

Phase signal
Touch probe configuration

Lenze Selection
C0910 TP Delay 0 Touch probe delay
Compensation of delay times of
the TP signal source at X5/E4
−32767 {1 inc} 32767
C0911 MCTRL TP sel 0 Touch probe selection
C0912 MCTRL TP EDGE 0 Touch probe activation
For touch probe via digital input
X5/E4
(C0911 = 1)
The feedback system generating the zero pulse is set under C0490. (^ 2−56)
L 9300 Servo PLC EN 4.1 2−57

9300 Servo PLC
System blocks
Function sequence
1. The TP is activated via a signal change at a digital input (X5/E1 ... E4) or via a zero pulse at the
incremental encoder input X8 or the resolver input X7.
2. If a TP has occurred, MCTRL_bActTPReceived_b is set = TRUE.
3. After the start of the task MCTRL_dnActIncLastScan_p indicates the number of increments
[inc/ms] counted since the TP.
4. Then MCTRL_bActTPReceived_b is set = FALSE.
Note!
It is necessary that all three outputs (MCTRL_nNAct_v, MCTRL_bActTPReceived_b and
MCTRL_dnActIncLastScan_p) are processed in the task even if just one signal is required.
For more detailed information about the use of the digital inputs X5/E1 ... E3 for touch probe,
please refer to the "Function library LenzeTpDrv.lib" Manual.
MCTRL_nNAct_v
The value MCTRL_nNAct_v is scaled in increments per millisecond.
(INT) 16384 corresponds to 15000 rpm. See chapter 1.2.7, "Signal types and scalings". (^ 1−8)
For every task in which MCTRL_nNAct_v is used the operating system creates an individual
integrator that is reset after every start of the task (task−internal process image).
Example (MCTRL_nNAct_v in a 10−ms task):
When the 10−ms task starts, the value of the integrator is saved in a local area of the task and
the integrator is reset. The value in the local area gives an average value in increments per
1 ms.
If a position value is to be derived from this value, then it must be multiplied by
SYSTEM_nTaskInterval / 4 to get the result in increments per 10 ms, as in the example.
Example: In a 1−ms task SYSTEM_nTaskInterval has the value 4 (4 x 0.250s = 1 ms)
In the Lenze FBs this process is already implemented.
2−58 9300 Servo PLC EN 4.1 L

9300 Servo PLC
System blocks
2.12.16 Manual adaptation of motor data

If you use a motor not listed in the selection under C0086, select a motor with similar data under
C0086 and adapt the motor data manually.
Tip!
For more detailed information about commissioning, please refer to the Mounting Instructions for the
9300 Servo PLC!
The following codes help you to manually adapt the motor data:
Lenze Selection
[C0006] Op mode
Operating mode of the motor control

Dependent on C0086
reset to the assigned Lenze setting
Change of C0006 sets C0086 = 0!
ESC (Extended Speed Control):
Speed control with increased
speed control steadiness for
operation with incremental
encoder only (not resolver!).
2 Servo async Y Servo control for asynchronous
motors in star connection
3 Servo PM−SM Y Servo control for synchronous motors
in star connection
22 Servo async Servo control for asynchronous
motors in delta connection
31 ASM Y − ESC Servo control for asynchronous
motors in star connection, ESC
32 PM−SM Y − ESC Servo control for synchronous motors
in star connection, ESC
33 ASM − ESC Servo control for asynchronous
motors in delta connection, ESC
C0022 Imax current
Imax limit

Dependent on C0086
(1.5 * Imotor)
0 {0.01 A} 1.50 Ir
C0077 Vp field CTRL 0.25 Proportional gain of field controller
(VpF)
0.00 {0.01} 15.99
C0078 Tn field CTRL 15.0 Reset time of field controller (TnF)
1.0 {0.5 ms} 8000.0
[C0081] Mot power
Rated motor power according to
nameplate

Dependent on C0086
Change sets C0086 = 0
0.01 {0.01 kW} 500.00
[C0084] Mot Rs
Stator resistance of the motor

Dependent on C0086
0.00 {0.01 } 100.00
L 9300 Servo PLC EN 4.1 2−59

9300 Servo PLC
System blocks

Lenze Selection
[C0085] Mot Ls
Leakage inductance of the motor

Dependent on C0086
0.00 {0.01 mH} 200.00
[C0087] Mot speed
Rated motor speed

Dependent on C0086
300 {1 rpm} 16000
[C0088] Mot current
Rated motor current

Dependent on C0086
0.5 {0.1 A} 500.0
[C0089] Mot frequency
Rated motor frequency

Dependent on C0086
10 {1 Hz} 1000
[C0090] Mot voltage
Rated motor voltage

Dependent on C0086
50 {1 V} 500
[C0091] Mot cos phi
Motor cos

Dependent on C0086
0.50 {0.01} 1.00
C0111 Rr tune 100 % Adjustment of the rotor resistance
(particularly recommended for
non−Lenze motors and high field
weakening.)
Adjustment in % of the rated rotor
resistance of the motor.
50.00 {0.01 %} 199.99
2−60 9300 Servo PLC EN 4.1 L

9300 Servo PLC
System blocks
2.12.17 Monitoring
The 9300 Servo PLC comprises two independent sectors, the motor control and the PLC.
Interfaces
System bus (CAN) CAN
Fieldbuses
Digital frequency
Analog/digital I/Os
3
Memory
(FLASH, EEPROM, RAM)
Rectifier
PLC program
(to IEC 61131-3, changeable)
Technology functions
mController
Operating system
Drive control Inverter
Communication
3
Motor control DSP
Digital Signal Processor
Standard motor
Asynchronous motor
3~ Synchronous motor
with resolver/encoder
SIN/COS encoder
The motor control is provided with several monitoring functions which protect the drive from
impermissible operating conditions.
If a monitoring function is activated,
the response set for this monitoring function is triggered.
a corresponding system variable is set to TRUE as long as the trigger condition for the
monitoring function is fulfilled.
The system variables of the monitoring functions can be processed in the application program of
the PLC.
The current error number is also indicated in the variable DCTRL_wFaultNumber of the PLC program.
L 9300 Servo PLC EN 4.1 2−61

9300 Servo PLC
System blocks
The fault memory (C0168/x) stores the error messages with an offset which indicates the type of the
response:
No. of the error message Type of response
0xxx TRIP
1xxx Message
2xxx Warning
3xxx FAIL−QSP
Example: C0168/1 = 2061

x061:
The current error (subcode 1 of C0168) is a communication error (error message "CE0"/No.
"x061") between the AIF module and the PLC.
2xxx:
The response is a warning.
Tip!
Occurring faults generally do not affect the operating ability of the PLC!
For more detailed information about the error sources detected by the PLC as well as causes
& remedies, please refer to the appendix (chapter 3.5). (^ 3−9)
2−62 9300 Servo PLC EN 4.1 L

9300 Servo PLC
System blocks
Overview of system error messages of the motor control

Error Monitoring function System variable Possible responses
Lenze setting Setting possible
No. Display Code TRIP Message Warning FAIL−QSP Off
x011 OC1 Short circuit MCTRL_bShortCircuit_b

x012 OC2 Earth fault MCTRL_bEarthFault_b
x015 OC5 I x t overload MCTRL_bIxtOverload_b
x020 OU Overvoltage MCTRL_bOvervoltage_b
x030 LU Undervoltage MCTRL_bUndervoltage_b
x032 LP1 Motor phase failure MCTRL_bMotorphaseFail_b C0597
x050 OH Heatsink temperature (fixed) MCTRL_bKuehlGreaterSet−
Value_b
x053 OH3 Motor temperature (fixed) MCTRL_bMotorTempGreater− C0583
SetValue_b
x054 OH4 Heatsink temperature MCTRL_bKuehlGreaterC0122_b C0582
(adjustable)
x057 OH7 Motor temperature (adjustable) MCTRL_bMotorTemp− C0584
GreaterC0121_b
x058 OH8 Motor temperature (PTC) MCTRL_bPtcOverTemp_b C0585
x082 Sd2 Resolver error MCTRL_bResolverFault_b C0586
x086 Sd6 Thermal sensor error MCTRL_bSensorFault C0594
x087 Sd7 Absolute value encoder error 1) MCTRL_bEncoderFault_b
x088 Sd8 Absolute value encoder error 1) MCTRL_bSinCosFault_b C0580
x089 PL Error during rotor position MCTRL_bRotorPositionFault_b
adjustment
x190 nErr Speed out of tolerance margin MCTRL_bSpeedLoopFault_b C0579
x200 NMAX Maximum speed exceeded MCTRL_bNmaxFault_b
x: 0 = TRIP, 1 = Message, 2 = Warning, 3 = FAIL−QSP

1) When the error has been eliminated: Deenergise the controller completely!
L 9300 Servo PLC EN 4.1 2−63

9300 Servo PLC
System blocks
Responses and their effects on the drive

Response Effect Keypad display
RDY IMP Fail
TRIP
TRIP active: The power outputs U, V, W are switched to high resistance.
The drive is coasting (no control!).
TRIP reset: The drive runs to its setpoint along the set ramps.
Message
The drive restarts automatically when the message is no longer present!
Message active: The power outputs U, V, W are switched to high resistance.

0.5 s The drive is coasting (no control!).
0.5 s The drive is coasting (due to internal controller inhibit!). If required, restart program.
Message reset: The drive runs to its setpoint with the maximum torque.
Warning
The drive can be destroyed as a result of deactivated monitoring functions!
The failure merely is displayed, the drive runs on in a controlled manner.

FAIL−QSP − − −
The drive decelerates to standstill along the QSP ramp (C0105).
Off − − −
There is no response to the failure!

= off = on
2−64 9300 Servo PLC EN 4.1 L

9300 Servo PLC
System blocks
2.12.17.1 OC1 − short−circuit monitoring

This monitoring function protects the drive controller.
No. Display TRIP Message Warning FAIL−QSP Off
x011 OC1 Short circuit MCTRL_bShortCircuit_b

Lenze setting
Setting possible
Monitoring is actuated in the event of a short circuit in the motor phases. This can also be caused
by an interturn fault in the machine.
Monitoring can also respond during power−up if an earth fault occurs.
If monitoring responds, the drive controller has to be disconnected from the mains and the
short circuit has to be eliminated.
2.12.17.2 OC2 − earth−fault monitoring

x012 OC2 Earth fault MCTRL_bEarthFault_b

Lenze setting
Setting possible
The 9300 Servo PLC is equipped with earth−fault detection as standard.

If monitoring is actuated, the drive controller has to be disconnected from the mains and the
earth fault has to be eliminated.
Possible causes of an earth fault:
Short circuit to frame of the machine
Short circuit of a phase to the shield
Short circuit of a phase to PE
L 9300 Servo PLC EN 4.1 2−65

9300 Servo PLC
System blocks
2.12.17.3 OC5 − I x t overload monitoring

x015 OC5 I x t overload MCTRL_bIxtOverload_b

Lenze setting
Setting possible
Overcurrent diagram for OC5 fault message

The following diagram shows the maximum permissible overcurrent as a function of time:
IMotor [%]
200

150

100
75
44
t [s]
10 60 120 180
Fig. 2−27 Overcurrent diagram
The maximum permissible overcurrent is dependent on the Imax limit set under C0022. (^ 2−59)
Imax limit set under C0022 150 % Ir:
Within a period of 180 s, the arithmetic mean value of the motor current may not exceed
100 % of the rated device current.
Example: Arithmetic mean value to curve :
60 s @ 150 % ) 120 s @ 75 % + 100 %

180 s
Imax limit set under C0022 > 150 % Ir:

Within a period of 60 s, the arithmetic mean value of the motor current may not exceed 70 %
of the rated device current.
Example: Arithmetic mean value to curve :
10 s @ 200 % ) 50 s @ 44 % + 70 %
60 s
The current controller load is displayed in C0064:

Lenze Selection
C0064 Utilization g Controller load I x t during the last
180 seconds
C0064 >100 % trips OC5.
TRIP−RESET is only possible if
C0064 < 95 %.
0 {1 %} 150
2−66 9300 Servo PLC EN 4.1 L

9300 Servo PLC
System blocks
2.12.17.4 OU − overvoltage monitoring

This function monitors the DC bus and protects the controller.
x020 OU Overvoltage MCTRL_bOvervoltage_b

Lenze setting
Setting possible
Monitoring is actuated if the DC bus voltage at the terminals +UG and −UG exceeds a switch−off
threshold dependent on C0173, and it remains active until the value falls below the respective
switch−on threshold again.
The DC−bus voltage is set under C0173:
Lenze Selection
[C0173] UG limit 1 Adaptation of DC−bus voltage
thresholds
Check during commissioning and
adapt if necessary
All drive components in
interconnected drives must have
the same thresholds
0 Mains < 400 V; with or without brake unit
1 Mains = 400 V; with or without brake unit
3 Mains = 480 V; without brake unit
4 Mains = 480 V; with brake unit
The switch−off and switch−on thresholds dependent on C0173 can be gathered from the
following table:
Setting of C0173 Switch−off threshold Switch−on threshold
0 Mains < 400 V; with or without brake unit 770 V 755 V
1 Mains = 400 V; with or without brake unit 770 V 755 V
3 Mains = 480 V; without brake unit 770 V 755 V
4 Mains = 480 V; with brake unit 800 V 785 V
The switch−off threshold defines the voltage level of the DC−bus voltage, at which the pulse
inhibit is activated.
L 9300 Servo PLC EN 4.1 2−67

9300 Servo PLC
System blocks
Braking torque derating

Without a braking system being connected (934X power supply module or 935X braking unit), the
braking torque is automatically derated when the DC−bus voltage reaches the following value:
Threshold for braking torque derating + Switch−off threshold * OV reduce
The "OV reduce" value is set under C0172:

Lenze Selection
[C0172] 0V reduce 10 Threshold for activating the braking
torque derating before OU trip
0 {10 V} 100
Example:
C0173 = 3 Switch−off threshold = 770 V
C0172 = 10 "OV reduce" = 10 V
Threshold for braking torque derating + 770 V * 10 V + 760 V
The braking torque is derated as soon as the DC−bus voltage reaches or exceeds 760 V.
Braking with active braking torque derating generates clearly audible motor noise.
Tip!
If the monitoring system responds frequently, the drive dimensioning may be inappropriate (too
much braking energy being generated).
Remedy: Use 934X power supply module or (additional) 935X braking units.
When several controllers are operated simultaneously, a DC−bus connection may be useful. In
this way the braking energy generated by one drive can be used to drive another drive. Only
the energy difference is taken from the mains.
2−68 9300 Servo PLC EN 4.1 L

9300 Servo PLC
System blocks
2.12.17.5 LU − undervoltage monitoring

This function monitors the DC bus and protects the controller.
x030 LU Undervoltage MCTRL_bUndervoltage_b

Lenze setting
Setting possible
The monitoring responds if the DC−bus voltage at the terminals +UG and −UG falls below a switch−off
threshold dependent on C0173 and it remains active until the corresponding switch−on threshold has
again been exceeded.
The DC−bus voltage is set under C0173 (^ 2−67).
The switch−off and switch−on thresholds dependent on C0173 can be gathered from the
following table:
Setting of C0173 Switch−off threshold Switch−on threshold
0 Mains < 400 V; with or without brake unit 285 V 430 V
3 Mains = 480 V; without brake unit 342 V 487 V
4 Mains = 480 V; with brake unit 342 V 487 V
The switch−off threshold defines the voltage level of the DC−bus voltage, at which the pulse
inhibit is activated.
Tip!
If the undervoltage lasts longer than 3 s or if the drive is powered up, this is entered into the fault
memory.
This can be the case if the control module is supplied externally via the terminals X5/39 and
X5/59 and the mains is switched off.
If the undervoltage has been eliminated (reconnection to the mains), the entry is not updated
in the fault memory but deleted because this is not an error but a controller status.
Undervoltages which last for less than 3 s are interpreted as a fault (e.g. power system fault) and
entered into the fault memory. In this case the fault memory is updated.
L 9300 Servo PLC EN 4.1 2−69

9300 Servo PLC
System blocks
2.12.17.6 LP1 − monitoring of the motor phases

This monitoring function checks if a motor phase has failed.
Note!
This monitoring function can only be used for asynchronous motors.
When this monitoring function is activated, the calculating time available for the user is
reduced.

x032 LP1 Motor phase failure MCTRL_bMotorphaseFail_b

Lenze setting
Setting possible
The monitoring limit is set under C0599.

The response is set under C0597.
Lenze Selection
C0597 MONIT LP1 3 Configuration of motor phase
monitoring (LP1)
0 TRIP
2 Warning
3 Off
C0599 Limit LP1 5 Monitoring limit for LP1 fault
0.01 {0.01 %} 10.00
Error acknowledgement
1. Check motor cables.
2. Execute TRIP−RESET.
2−70 9300 Servo PLC EN 4.1 L

9300 Servo PLC
System blocks
2.12.17.7 OH − heatsink temperature monitoring (fixed)

x050 OH Heatsink temperature (fixed) MCTRL_bKuehlGreaterSet−

Value_b
Lenze setting
Setting possible
MCTRL_bKuehlGreaterSetValue_b is derived from a comparator with hysteresis. The switch−off

threshold and the hysteresis are fixed:
The switch−off threshold is 85 °C
The hysteresis is 5 K, i.e. the value for switching on again is 80 ºC.
The following causes can bring about an actuation of the monitoring process:
Cause Remedy
The ambient temperature is too high. Mount a blower in the control cabinet.
The drive controller is overloaded in the arithmetic mean, i. e. Mount a blower in the control cabinet.
overload and recovery phase exceed 100%. Shorten overload phase.
Use a more powerful drive controller.
L 9300 Servo PLC EN 4.1 2−71

9300 Servo PLC
System blocks
2.12.17.8 OH3 − motor temperature monitoring (fixed)

This monitoring function protects the motor against overheating.
x053 OH3 Motor temperature (fixed) MCTRL_bMotorTempGreater−

SetValue_b
Lenze setting
Setting possible
MCTRL_bMotorTempGreaterSetValue_b is derived from a comparator with hysteresis. The

switch−off threshold and the hysteresis are fixed:
The switch−off threshold is 150 °C
The hysteresis is 15 K, i.e. the value for switching on again is 135 ºC.
This monitoring only applies to the temperature sensor specified by Lenze as it is, for instance,
included in the Lenze standard servo motor.
The Sub−D connectors X7 or X8 are available as inputs.
Stop!
The temperature sensor may either be connected to X7 or to X8; the respective other input for the
temperature sensor must be free!
This monitoring is active in the Lenze setting and is thus triggered when you use a non−Lenze servo
motor!
The response is set under C0583:

Lenze Selection
C0583 MONIT OH3
Monitoring configuration: Motor
temperature
(Motor temperature > fixed limit
temperature)

Dependent on C0086
0 TRIP
3 Off
2−72 9300 Servo PLC EN 4.1 L

9300 Servo PLC
System blocks
2.12.17.9 OH4 − heatsink temperature monitoring (adjustable)

x054 OH4 Heatsink temperature (adjustable) MCTRL_bKuehlGreaterC0122_b

Lenze setting
Setting possible
This monitoring function is designed as an early warning stage before final disconnection of the drive
controller by means of TRIP (OH) via the monitoring function "heatsink temperature (fixed)". (^ 2−71)
With this function the process can be influenced to avoid a switch−off of the controller at an
unfavourable moment.
Furthermore, for instance, additional fans, which would cause an unacceptable noise in
continuous operation, can also be switched on and off.
MCTRL_bKuehlGreaterC0122_b is derived from a comparator with hysteresis.
The operating threshold is set under C0122.
Hysteresis is 5 K (fixed), i. e. monitoring is reset at 5 K below the operation threshold that has
been set.
Lenze Selection
C0122 OH4 limit 85 Temperature threshold for heatsink
temperature prewarning
"Tht > C0122" (fault OH4)
45 {1 °C} 85
C0582 MONIT OH4 2 Configuration of monitoring
2 Warning
3 Off
L 9300 Servo PLC EN 4.1 2−73

9300 Servo PLC
System blocks
2.12.17.10 OH7 − motor temperature monitoring (adjustable)

This monitoring function monitors the process.
x057 OH7 Motor temperature (adjustable) MCTRL_bMotorTemp−

GreaterC0121_b
Lenze setting
Setting possible
This monitoring function is designed as an early warning stage before final disconnection of the drive
controller by means of TRIP (OH3) via the monitoring function "motor temperature (fixed)". (^ 2−72)
With this function the process can be influenced to avoid a switch−off of the motor at an
unfavourable moment.
Furthermore, for instance, additional fans, which would cause an unacceptable noise in
continuous operation, can be switched on and off.
MCTRL_bMotorTempGreaterC0121_bis derived from a comparator with hysteresis.
The operating threshold is set under C0121.
Hysteresis is 15 K (fixed), i. e. monitoring is reset at 15 K below the operation threshold that
has been set.
Lenze Selection
C0121 OH7 limit 150 Temperature threshold for motor
temperature prewarning
"TMot > C0121" (fault OH7)
45 {1 °C} 150
C0584 MONIT OH7
temperature
(Motor temperature > variable limit
temperature C0121)

Dependent on C0086
Temperature monitoring via
resolver input
2 Warning
3 Off
2−74 9300 Servo PLC EN 4.1 L

9300 Servo PLC
System blocks
2.12.17.11 OH8 − motor temperature monitoring via T1, T2

This monitoring function protects the motor.
x058 OH8 Motor temperature (PTC) MCTRL_bPtcOverTemp_b

Lenze setting
Setting possible
MCTRL_bPTCOverTemp_b is derived from the digital signal across the terminals T1, T2 next to the
power terminals UVW.
The switch−off threshold and the hysteresis depend on the encoder system (DIN 44081).
Lenze Selection
C0585 MONIT OH8 3 Monitoring configuration: Motor
temperature
(Motor temperature across T1/T2 too
high)
Temperature monitoring via PTC
input
0 TRIP
2 Warning
3 Off
Stop!
If you use the inputs T1, T2 to protect the motor, the monitoring response should not be "Warning"
or "Off" since the motor could be damaged or destroyed in the event of more overload!
L 9300 Servo PLC EN 4.1 2−75

9300 Servo PLC
System blocks
2.12.17.12 Sd2 − resolver monitoring for open circuit

This monitoring function monitors the resolver feed cable and the resolver for open circuits and
protects the motor.
x082 Sd2 Resolver error MCTRL_bResolverFault_b

Lenze setting
Setting possible
Stop!
If the monitoring is switched off, the machine can reach very high speeds in the event of faults (e. g.
system cable is disconnected or not correctly screwed), which can result in the damage of the motor
and of the driven machine! The same applies if "warning" is set as a response.
For commissioning always use the Lenze setting (TRIP) for C0856.
The possibility of switching off via C0856 should only be used if the monitoring is triggered
without any obvious reason (e.g. due to long cables or intense interference injection caused
by other drives).
If a fault has occurred in the actual speed detection, it is possible that the overspeed monitoring
(NMAX) does not respond as expected.
This monitoring
– is automatically activated if the resolver is selected as an actual speed value encoder under
C0025 (C0025 = 10).
– is automatically deactivated if another actual speed value encoder is selected.
Lenze Selection
C0586 MONIT SD2 0 Monitoring configuration: Resolver
error
0 TRIP
2 Warning
3 Off
2−76 9300 Servo PLC EN 4.1 L

9300 Servo PLC
System blocks
2.12.17.13 Sd6 − motor temperature sensor monitoring

This monitoring function checks whether the motor temperature sensor supplies values within the
measuring range of −50 ... +250 °C.
If the values are out of this measuring range, monitoring is triggered.
x086 Sd6 Temperature sensor error MCTRL_bSensorFault

Lenze setting
Setting possible

Lenze Selection
C0594 MONIT SD6
temperature sensor error
(X7 or X8)

Dependent on C0086
0 TRIP
2 Warning
3 Off
2.12.17.14 Sd7 − absolute value encoder monitoring

This monitoring function repeatedly reads in the absolute value of the encoder when the PLC is
switched on to find out if the same value is transmitted to the drive.
If a deviation > 5 % is detected at the motor shaft, the monitoring (TRIP) is actuated.
x087 Sd7 Absolute value encoder error MCTRL_bEncoderFault_b

Lenze setting
Setting possible
L 9300 Servo PLC EN 4.1 2−77

9300 Servo PLC
System blocks
2.12.17.15 Sd8 − sin/cos encoder monitoring during operation

This monitoring function performs a plausibility check to find out whether the encoder is available and
the sin/cos tracks supply plausible values with regard to each other.
x088 Sd8 Absolute value encoder error MCTRL_bSinCosFault_b

Lenze setting
Setting possible
The following sin/cos encoder types are supported:

– Stegmann SCS 60/70 ST 512 single−turn absolute value encoder (512 inc/rev)
– Stegmann SCM 60/70 ST 512 multi−turn absolute value encoder (512 inc/rev)
The error "Sd8" can only be reset by mains switching.
It may be necessary that the encoder has to move a few angular degrees for triggering an
error.
Lenze Selection
C0580 MONIT SD8 3 Monitoring configuration: Sin/cos
encoder
0 TRIP
3 Off
Note!
If the encoder is to be monitored and, especially, if synchronous machines are used, the error
response should be set to "TRIP".
For further encoder reliability, the monitoring of following errors can, for example, additionally be
activated for positioning systems. This error response should also be set to "TRIP".
Apparent errors Hidden errors

Unplugged connectors, all encoder signals open. Short circuits, especially between the sine and cosine signals.
Single open circuit, one of the following signals is missing: Cable/encoder interferences with intermediate values
– COS A "Semi"−short circuits (> 0 Ohm)
– RefCOS A "Semi"−interruptions (< infinite)
– SIN B
– RefSIN B
– GND
– VCC
Double open circuit with the following signal pairs:
– COS A and RefCOS A
– SIN B and RefSIN B
– COS A and SIN B
– RefCOS A and RefSIN B
– or all four signals (COS A, RefCOS A, SIN B, RefSIN B) open.
2−78 9300 Servo PLC EN 4.1 L

9300 Servo PLC
System blocks
2.12.17.16 PL − monitoring of the rotor position adjustment

This monitoring function monitors the correct execution of the rotor position adjustment.
x089 PL Error during rotor position adjustment MCTRL_bRotorPositionFault_b

Lenze setting
Setting possible
Error triggering
If an Sd7 error occurs during the rotor position adjustment with an absolute value encoder, a
TRIP will occur after the subsequent mains switching.
If a rotor position adjustment with any encoder is aborted (e.g. by C0095 = 0 or switch−off), a
TRIP will occur.
Error acknowledgement
1. Activate rotor position adjustment with C0095 = 1.
2. Execute TRIP−RESET.
3. Re−execute rotor position adjustment.
L 9300 Servo PLC EN 4.1 2−79

9300 Servo PLC
System blocks
2.12.17.17 nErr − speed monitoring (speed out of tolerance margin)

This monitoring function compares the actual speed value supplied by the speed encoder to the
speed setpoint on the speed controller. If the difference between the two speed values exceeds the
tolerance margin set in C0576, the monitoring function is actuated.
x190 nErr Speed out of tolerance margin MCTRL_bSpeedLoopFault_b

Lenze setting
Setting possible
This monitoring function can be used to evaluate the speed following behaviour of the controller.
If the system deviation exceeds a certain value, this may indicate a drive problem. In this case,
the drive cannot follow the set speed setpoint for some reason. With operational controllers,
this may be caused by mechanical blockades on the load side, or by an insufficient motor
torque.
Furthermore, this monitoring function can be used for additional speed encoder protection in
speed−controlled operation. This monitoring function thus supplements the individual encoder
monitoring functions.
Errors on the encoder system bring about an incorrect actual speed value. This usually results
in a system deviation on the speed controller that is greater than that during normal operation.
The tolerance margin is set via C0576:
The response is set via C0579:
Lenze Selection
C0576 nErr Window 100 Tolerance margin for speed
monitoring
Referred to nmax.
100 % = lowest monitoring
sensitivity.
0 {1 %} 100
C0579 MONIT nErr 3 Speed monitoring configuration
0 TRIP
1 Message
2 Warning
3 Off
4 Fail−QSP
Note!
If the encoder is to be monitored, set the error response to "TRIP".
To ensure that there are no false alarms, it might be necessary to adapt the setpoint/quick
stop ramps (by means of longer time intervals) to the application.
The selected tolerance margin (C0576) should be at least twice as high as the system
deviation occurring during operation. The deviation can be determined by means of
appropriate tests during commissioning.
2−80 9300 Servo PLC EN 4.1 L

9300 Servo PLC
System blocks
2.12.17.18 NMAX − speed monitoring (maximum speed exceeded)

This monitoring function monitors the process.
x200 NMAX Maximum speed exceeded MCTRL_bNmaxFault_b

Lenze setting
Setting possible
The monitoring responds when the current speed exceeds the upper speed limit of the system or the
double value of C0011 (nmax).
Stop!
For active loads (e.g. hoists) ensure torque−free operation of the drive. Special system−specific
measures are required!
If the actual speed value encoder fails, the monitoring may fail to respond.
The upper system speed is set under C0596:

Lenze Selection
C0596 NMAX limit 5500 Monitoring configuration: Max. speed
of the machine
0 {1 rpm} 16000
L 9300 Servo PLC EN 4.1 2−81

9300 Servo PLC
System blocks
2.13 MCTRL_AUX_HighResFeedback (node number 181)
2.13 MCTRL_AUX_HighResFeedback (node number 181)

High−resolution encoder
Use this SB only after consulting with Lenze!
2.13.1 Inputs_MCTRL_AUX_HighResFeedback
Variable Data type Data type Address Display Display Note
code format
MCTRL_AUX_ Double
Position %ID181.0 High−resolution encoder position
dnEncoderAngle integer
2.13.2 Outputs_MCTRL_AUX_HighResFeedback
Variable Data type Data type Address Display Display Note
code format
MCTRL_AUX_ Mask for high−resolution encoder
Word − %QW181.0
wEncoderMask position
2−82 9300 Servo PLC EN 4.1 L

9300 Servo PLC
System blocks
2.14 STATEBUS_IO (node number 51)
2.14 STATEBUS_IO (node number 51)

The state bus is a bus system specifically designed for Lenze controllers/PLCs.
This SB can set the state bus to LOW level and thus set all nodes connected to the state bus to a
previously selected status (e.g. TRIP, quick stop (QSP) or controller inhibit (CINH)).
The SB immediately detects when a node sets the state bus to LOW level and the corresponding
control signal can be processed in the PLC program.
STATEBUS_IO
+10V
STATE_BUS_bIn_b
STATE_BUS_bOut_b 1
ST
C0441 ST
X5
Fig. 2−28 STATEBUS_IO

code format
STATEBUS_bOut_b Bool Binary %QX51.0.4 C0441 bin LOW signal output
STATEBUS_bIn_b Bool Binary %IX51.0.6 − − LOW signal detection
Every device connected to the state bus can set the state bus to LOW level (multi−master
operation).
A maximum of 20 devices (controllers/PLCs) can be networked via the state bus.
L1 L2 L3 PE +UG -UG L1 L2 L3 PE +UG -UG L1 L2 L3 PE +UG -UG
9300 Servo PLC / 932X / 933X 9300 Servo PLC / 932X / 933X 9300 Servo PLC / 932X / 933X
PE U V W ST 39 ST PE 28 A4 PE U V W ST 39 ST PE 28 A4 PE U V W ST 39 ST PE 28 A4
Fig. 2−29 Networking via the state bus
Stop!
Do not connect an external voltage to terminals X5/ST!
L 9300 Servo PLC EN 4.1 2−83

9300 Servo PLC
System blocks
2.15 SYSTEM_FLAGS (system flags, node number 151)

System flags are global variables which are permanently integrated into the run−time system. They
include functions that facilitate programming.
The following system flags are included in the PLC:
Variable Data type Address Note
SYSTEM_bClock01Hz %IX151.0.0 0.1 Hz system clock
SYSTEM_bClock1Hz %IX151.0.8 1.0 Hz system clock
SYSTEM_bClock10Hz %IX151.1.0 10 Hz system clock
SYSTEM_bClock0100Hz %IX151.1.8 100 Hz system clock
SYSTEM_bTogCycleTask %IX151.2.0 Toggle flag − cyclic task
SYSTEM_b1LoopCyclicTask %IX151.2.8 First loop − cyclic task
SYSTEM_b1LoopTask2 %IX151.3.0 First loop − task ID2
Bool
SYSTEM_nTaskInterval %IW151.7 Interval of current task
Integer
SYSTEM_nTaskID %IW151.8 Identification of current task
Tip!
The system variables are not generated in simulation mode.
SYSTEM_bClockxHz
These system flags output a fixed clock pulse with an equal pulse/pause ratio.
The flag is toggled in real time.
When you use this system flag, take care with the sampling frequency used for polling this flag
(aliasing effect). You should use at least twice the toggle frequency.
Example:
You would like to use the system flag SYSTEM_bClock100Hz as a clock for a counter.
The pulse/pause ratio is 5 ms/5 ms.
To avoid an aliasing effect, the counter must always be polled with an interval task < 5 ms.
SYSTEM_bTogCycleTask
This system flag alters the state with the cyclic task:
1. cycle: FALSE
2. cycle: TRUE
3. cycle: FALSE
4. cycle: TRUE
etc.
2−84 9300 Servo PLC EN 4.1 L

9300 Servo PLC
System blocks
SYSTEM_nTaskInterval
This system flag indicates the interval of the running task with a resolution of 0.25 ms.
If, for instance, a 10−ms task is processed, the system flag indicates "40"
(40 x 0.25 ms = 10 ms).
If a task different from an interval task is processed, the system flag indicates "0".
SYSTEM_nTaskID
This system flag indicates the task ID of the running task.
SYSTEM_b1LoopCyclicTask/SYSTEM_b1Loop Task X
These system flags are TRUE only once during the first cycle of a task.
After the first cycle, the flags will be set to FALSE.
The only way to reset the status to TRUE is to reset the program in the PLC.
L 9300 Servo PLC EN 4.1 2−85

9300 Servo PLC
System blocks
2−86 9300 Servo PLC EN 4.1 L

9300 Servo PLC
Appendix
3 Appendix
3.1 PLC functionality

Field Number Description
Inputs Digital 1 Input for controller enable 24 V DC / 8 mA per input
5 Free inputs 1
(3 of them interrupt−capable1) Response time 0.25 ms
Analog 1 Free input (11 bits + sign) 10 V or 20 mA

1 Free input (11 bits + sign) 10 V
Digital 1 Input 0 ... 500 kHz
frequency
Outputs Digital 4 Free outputs 24 V DC / max. 50 mA per output
Analog 2 Free outputs (9 bits + sign) 10 V / max. 20 mA
Digital 1 Output 0 ... 500 kHz
frequency
Feedback system Resolver, incremental or sin/cos encoder
Operation set According to IEC61131−3
Counter/times According to IEC61131−3, depending on the data memory available
Fast counter 1 0 ... 500 kHz
Flags 512 Flag words
Memory See chapter 3.3 (^ 3−3)
Processing time (1−bit operation) 0.7 s
Task types 8 Time or event−controlled tasks (1 ms ... 16 s)
1 Cyclic task
Functions PID control functions
Electrical shaft
Positioning function
Mains failure control
Brake control
Flow point arithmetic
Programming software Drive PLC Developer Studio
Programming languages according to IEC61131−3 standard (IL, LD, FBD, ST,
SFC) as well as CFC editor
Monitoring, visualisation, simulation and debugging
Technology functions Software packages (cam, positioner, winder)
(only for ET variant)

9300 Servo PLC
Appendix
3.2 Extendability/networking
Automation interface (AIF)
GLOBAL DRIVE
dc bBA
for EMZ9371BB keypad or the following AIF modules:
2102 LECOM−A/B/LI
SH PRG p
PaR2 PaRa 0051 00
1250 rpm
MCTRL-N-ACT

S T
U V
2103 FP interface (RS−232C)

z
Y Z l
y LECOM A/B
59 39 71 72 88 89
2111 INTERBUS
2112 INTERBUS−Loop
2133 PROFIBUS−DP
2174 CAN addressing module
2175 DeviceNet/CANopen
Others in preparation
Integrated system bus interface
9374IB terminal extension
For the extension of the digital input and output terminals via the system bus.
8 terminals programmable as inputs or outputs.
9300 Servo PLC extendable with up to eight 9374 modules.
Response time to a signal change at the terminal extension < 2 ms.
System bus (CAN)

Interface Available CAN objects
Integrated system bus interface PDOs CAN1_IN/CAN1_OUT
CAN2_IN/CAN2_OUT
CAN3_IN/CAN3_OUT
SDOs SDO1 (parameter data channel 1)
SDO2 (parameter data channel 2)
L_ParRead/L_ParWrite functionality
Sync telegram
Synchronisation of the internal time basis by receiving the sync telegram
Free CAN objects
CanDSx driver for mapping indexes to codes and for the bus monitoring functions
"Heartbeat" and "Node Guarding" (see "Function library LenzeCanDSxDrv.lib" Manual).
Automation interface (AIF) PDOs XCAN1_IN/XCAN1_OUT
with appropriate fieldbus module (e.g. 2175) XCAN2_IN/XCAN2_OUT
XCAN3_IN/XCAN3_OUT
SDOs XSDO1 (parameter data channel 1)
XSDO2 (parameter data channel 2)
XSync telegram
AifParMap driver for mapping code accesses via AIF to other codes (see "Function library
LenzeAifParMapDrv.lib" Manual).
Tip!
For more detailed information about the system bus (CAN), please refer to the "System bus (CAN)
for Lenze PLC devices" Manual.

9300 Servo PLC
Appendix
3.3 Memories
The below table gives you an overview of the memories available:
Memory Size Info
ROM
Program memory 384 kbytes Re−written whenever the program is downloaded
Application data memory 15 segments For data and motion profiles (cam data).
(FLASH) à 64 kbytes Data are preserved even after repeated program downloads or firmware
updates.
Use the command
Online WReset (original) in the DDS online mode to delete data.
RAM
PLC data memory 10 kbytes Can be symbolically used for FB instances and PLC variables.
Application data memory 2 blocks Data gets lost after mains disconnection.
à 64 kbytes
E2PROM−buffered memory
Retain memory 160 bytes See subsection 3.3.1
Persistent memory 32 bytes See subsection 3.3.2
Tip!
The LenzeMemDrv.lib function library includes functions for read/write access to the additional
backup memory (application data memory, FLASH) of the PLC.
Additional information can be found in the Manual for the LenzeMemDrv.lib function library.

9300 Servo PLC
Appendix
3.3.1 Retain memory

In the retain memory the values of the retain variables are stored safe from power failure and are thus
available to the program even after mains switching. (Saving with C0003 = 1 is not required.)
Retain variables are declared by means of the variable class VAR RETAIN.
Retain variables are created as a symbolically addressable memory.
With each program download the retain variables are reset to their initialisation value. If an
initialisation value has not been defined, the corresponding retain variable will be initialised
with the value "0".
In the DDS online mode you can use the commands OnlineWReset (cold) and OnlineWReset
(original) to reset the retain variables in the PLC to their initialisation values.

9300 Servo PLC
Appendix
3.3.2 Persistent memory

In the persistent memory 32 bytes of data can be stored safe from power failure and are thus available
to the program even after mains switching. Unlike in the retain memory, data remains unchanged in
the persistent memory even after a new program download. (Saving with C0003 = 1 is not required.)
The persistent memory can only be deleted in the DDS online mode using the command
OnlineWReset (original).
Access to the persistent memory
The persistent memory is accessed via the system variables of the control configuration. The 32
bytes available can be assigned to several variables of different data types at the same time. In this
way they can be used as required by the application in the PLC program:
System variable (8 bits) System variable (16 bits) System variable (32 bits)
Byte Identifier Address Identifier Address Identifier Address
0 VAR_Persistent_byByte0 %QB171.0
VAR_Persistent_wWord0 %QW171.0
VAR_Persistent_dwDWord0 %QD171.0
Note!
Some Lenze projects, programming examples and templates use parts of the persistent memory.
They are marked with "LenzeInternalUse" and must not be changed by the user.

9300 Servo PLC
Appendix
Example: Power−failure−safe storage of the current position

You can, for instance, use an AT declaration to connect the variable with the current position directly
to the address of a persistent variable and thus store the position safe from power failure:
g_dnActualPosition_p AT%QD171.6:DINT;

9300 Servo PLC
Appendix
3.3.3 Downloading data

In DDS (as of version 2.0) it is possible to attach a file to your project whose data is automatically
downloaded to the PLC when the program is downloaded.
This mechanism is, for instance, used in the Software Package − Cam to download motion
profiles.
Note!
With the 9300 Servo PLC the additional data is loaded into the application FLASH.
With the Drive PLC the additional data is directly attached to the PLC program because the
Drive PLC does not have an application FLASH.
For the download being executed by the DDS, the following two conditions must be met:
1. The PLC program must have been stopped.
2. The header of the file attached to the project must have the following structure:
Name Data type Data length in bytes Contents

wSizeHeader WORD 2 Header length in bytes
wDataType WORD 2 Data specification identifier
This information can be found under C2131 after data has been downloaded.
0 ... 10000 Lenze−spezific data
> 10000 User data
dwVersion DWORD 4 Data version
dwRealSize DWORD 4 User data length in bytes (without header)
dwTimeStamp DWORD 4 Time stamp of the last data change
wLicenseInfo WORD 2 Reserved for future extensions
wSizeSymbolicName WORD 2 Length of the symbolic file name
achSymbolicName ACH wSizeSymbolicName Character array including the symbolic file name
wCopyToRam WORD 2 Selection whether data will be automatically copied into the application RAM of
the PLC after downloading.
Maximum data length = 128 kbytes (RAM block 1 and 2)
0 Data is not copied into the application RAM.
1 Data is copied into the application RAM.
2 ... 65535 Reserved
dwReserved DWORD 4 Reserved for future extensions
awSizeAddInfo DWORD 190
Interpretation of the header information: least significant byte first:
wSizeHeader = 00 E4 hex = 228 Byte

wDataType = 00 0A hex = 10 (Cam data)
dwVersion = 00 00 00 01 hex
E4 00 0A 00 01 00 00 00 1C FF 00 00
dwRealSize = 00 00 FF 1C hex = 65308 Byte

9300 Servo PLC
Appendix
3.4 System POUs

System POUs are POUs of the "program" type which are designated with a special name and thus
acquire the feature of being started by an event occurring in the PLC.
The program includes a total maximum of 1000 instructions for system POUs.
Unlike tasks or PLC_PRG, system POUs are not run−time monitored by a "watchdog".
The special POU names and the corresponding event for starting the POU are listed in the
following table:
POU name Event for starting POU The POU starts if
PLC_TaskOverrun Task overflow ... the task monitoring time is exceeded.
PLC_RealError Floating−point error ... a floating−point error occurs.
PLC_FailTripping TRIP ... a trip is set.
PLC_WarningTripping Warning ... a warning is activated.
PLC_MessageTripping Message ... a message is activated. 1)
PLC_FailQspTripping FAIL−QSP ... a FAIL−QSP is activated. 1) 2)
PLC_CANError CAN−BUS error ... a CAN bus error occurs (e.g. BUS−OFF).
PLC_AIFError AIF−BUS error ... an AIF bus error occurs.
PLC_Restart Start ... the START command is activated after a STOP.
PLC_ColdStart Cold start ... a RESET, RESET (cold), RESET (original) or a program download has been
triggered. 3)
Note: System variables must not be used in PLC_ColdStart. Otherwise, unexpected
errors may occur in the control (e.g. start−up of the motor).
PLC_Stop PLC stop ... the STOP command is activated.
1) Not available for Drive PLC.
2) Is only called if the pulse inhibit is not active.
3) The CAN/AIF bus is ready after this POU has been executed.
Tip!
If you need a system POU for an event−controlled start, simply create a "program"−type POU and
name this POU with the PUO name which is listed in the table for the corresponding event.

9300 Servo PLC
Appendix
3.5 System error messages

The fault memory (C0168/x) stores the error messages with an offset which indicates the type of the
response:
No. of the error message Type of response
0xxx TRIP
1xxx Message
2xxx Warning
3xxx FAIL−QSP
Example: C0168/1 = 2061

x061:
The current error (subcode 1 of C0168) is a communication error (error message "CE0"/No.
"x061") between the AIF module and the PLC.
2xxx:
The response is a warning.
The current error number is also indicated in the variable DCTRL_wFaultNumber of the PLC program.
Tip!
Occurring faults generally do not affect the operating ability of the PLC!

9300 Servo PLC
Appendix
3.5.1 Overview of system error messages, error sources and responses

System error message Possible settings/response Available in
No. Display Source Meaning Code TRIP Message Warning FAIL− Off Drive Servo ECSxA
QSP PLC PLC
x011 OC1 MCTRL Motor cable short circuit
x012 OC2 MCTRL Motor cable earth fault
x015 OC5 MCTRL I x t overload
x016 OC6 MCTRL I2 x t overload (C0120)
x017 OC7 MCTRL I x t warning (C0123) C0604
x018 OC8 MCTRL I2 x t warning (C0127) C0605
x020 OU MCTRL Overvoltage in the DC bus
x030 LU MCTRL Undervoltage in the DC bus
x032 LP1 MCTRL Motor phase failure C0597
x050 OH MCTRL Heatsink temperature higher than fixed limit
temperature
x051 OH1 MCTRL Temperature inside the controller > 90° C
x053 OH3 MCTRL Motor temperature higher than fixed limit C0583
temperature
x054 OH4 MCTRL Heatsink temperature higher than variable limit C0582
temperature (C0122)
x055 OH5 MCTRL Temperature inside the controller > C0124 C0605
x057 OH7 MCTRL Motor temperature higher than variable limit C0584
temperature (C0121)
x058 OH8 MCTRL Motor temperature via inputs T1/T2 too high C0585
x061 CE0 AIF Communication error in AIF modulePLC C0126
CAN communication error:

x062 CE1 CAN1 CAN1_IN (monitoring time can be set under C0591
C0357/1)
C0357/2)
C0357/3)
x065 CE4 CAN CAN BUS−OFF status C0595
(too many faulty telegrams have been received)
x066 CE5 CAN CAN time−out (gateway function C0370) C0603
x070 U15 Internal Undervoltage of internal 15 V voltage supply

x071 CCr Internal Internal fault 1)
x072 PR1 Internal Check sum error in parameter set 1
x074 PEr Internal Program error 1)
x075 PR0 Internal General error in parameter sets 1)
x079 PI Internal Error during parameter initialisation 1)
x080 PR6 Internal Too many user codes
x082 Sd2 MCTRL Resolver error C0586
x083 Sd3 MCTRL Encoder error at X9 PIN 8 C0587
x085 Sd5 MCTRL Encoder error at analog input (X6) (C0034 = 1) C0598
x086 Sd6 MCTRL Sensor error: motor temperature (X7 or X8) C0594
x087 Sd7 MCTRL Absolute value encoder error at X8 1) C0025
x088 Sd8 MCTRL Absolute value encoder error at X8 1) C0580

3−10 9300 Servo PLC EN 4.1 l

9300 Servo PLC
Appendix

QSP PLC PLC
x089 PL MCTRL Error during rotor position adjustment
x091 EEr FWM External monitoring activated via DCTRL C0581
x105 H05 Internal Internal error (memory)
x107 H07 Internal Internal error (power section)
x108 H08 Internal Extension board not connected properly or not
supported by program
x110 H10 FWM Temperature sensor error: heatsink C0588
temperature
x111 H11 FWM Temperature sensor error: Temperature inside
the controller
FIF−CAN / CAN−AUX communication error:

x122 CE11 FIF−CAN1 FIF−CAN1_IN (monitoring time can be set under C0591
C2457/1)
CANaux1 CANaux1_IN (monitoring time can be set under C2481
C2457/1)
C2457/2)
C2457/2)
C2457/3)
C2457/3)
x125 CE14 FIF−CAN BUS−OFF status of FIF−CAN C0595
CANaux BUS−OFF status of CAN−AUX C2484
x126 CE15 CANaux Communication error in gateway function C2485
(C0370, C0371) via CAN−AUX
x190 nErr MCTRL Speed out of tolerance margin (C0576) C0579

x200 NMAX MCTRL Maximum speed exceeded (C0596)
Time−out (see task configuration):

x201 overrun Task1 Internal Task with ID 2 2)
x202 overrun Task2 Task with ID 3
x219 overrun Cycl.−T Internal Time−out in cyclic task (PLC_PRG, ID 1) 2)

2) In DDS adjustable under Project W Exceptional response
l 9300 Servo PLC EN 4.1 3−11

9300 Servo PLC
Appendix

QSP PLC PLC
Floating−point error (REAL) in:

x209 float Sys−T Internal System task 2)
x210 float Cycl.−T Cyclic task (PLC_PRG, ID 1)
x211 float T Id2 Task with ID 2
x220 NoT−FktCredit Internal Not enough technology units available in the
PLC
x230 No Program Internal No PLC program loaded in PLC
x231 Unallowed Lib Internal A library function has been called in the PLC
program which is not supported
x232 NoCamData Internal Motion profiles (cam data) are not available
Free CAN objects:

x240 ovrTransQueue Free CAN Overflow of the transmit request memory C0608 3)
x241 ovr Receive obj. Too many receive telegrams C0609
Application memory (FLASH):

x250 2.Flash Err Internal Access not possible 1)
(FLASH memory defective or not available)
x251 AddData CsErr Internal Check sum error occurred when loading data
into the FLASH memory
x252 AddData DlErr Internal Error occurred when downloading data into the
FLASH memory (e.g. time−out)
x260 Err NodeGuard Node "Life guarding event": The PLC as a CAN slave C0384 3)
guarding has not received any "node guarding" telegram
within the node lifetime of the CAN master.

2) In DDS adjustable under Project W Exceptional response
3) Only with 9300 Servo PLC!
3−12 9300 Servo PLC EN 4.1 l

9300 Servo PLC
Appendix
3.5.2 Responses and their effects on the drive

Response Effect Keypad display
RDY IMP Fail
TRIP
TRIP active: The power outputs U, V, W are switched to high resistance.
The drive is coasting (no control!).
TRIP reset: The drive runs to its setpoint along the set ramps.
Message
The drive restarts automatically when the message is no longer present!
Message active: The power outputs U, V, W are switched to high resistance.

0.5 s The drive is coasting (no control!).
0.5 s The drive is coasting (due to internal controller inhibit!). If required, restart program.
Message reset: The drive runs to its setpoint with the maximum torque.
Warning
The failure merely is displayed, the drive runs on in a controlled manner.

FAIL−QSP − − −
The drive is decelerated to standstill along the QSP ramp (C0105).
Off − − −
There is no response to the failure!

= off = on
3.5.3 System error message reset

Response Measures to reset system error messages
TRIP/FAIL−QSP A reset of TRIP/FAIL−QSP requires an acknowledgement.
If the TRIP source is still active, the current TRIP cannot be reset.
A TRIP/FAIL−QSP can be acknowledged by:
Dialog box "9300 diagnostics" in GDC Click on button "History buffer reset".
9371 BB keypad Press STOP key. Then press RUN key to reenable the PLC.
Code C0043 Set C0043 = 0
Control word C0135, bit 11
Control word AIF1_wDctrlCtrl of SB AIF1_IN
Control word CAN1_wDctrlCtrl of SB CAN1_IN
System variable DCTRL_vTripReset_b of SB DCTRL_DriveControl
Message
After eliminating the fault, the message self−resets and the drive restarts automatically!
Warning After eliminating the fault, the message is reset automatically.
l 9300 Servo PLC EN 4.1 3−13

9300 Servo PLC
Appendix
3.5.4 Causes and remedies

Error message Description Cause Remedy
No. Display
−−− −−− No fault − −
x011 OC1 Motor cable short circuit Short circuit Search for the cause of short circuit.
Check motor cable.
Capacitive charging current of the motor Use motor cable which is shorter or of
cable is too high. lower capacitance.
x012 OC2 Motor cable earth fault One of the motor phases has earth contact. Search for the cause of the short circuit.
Check motor cable.
x015 OC5 I x t overload Frequent and too long acceleration with Check drive dimensioning.
overcurrent
Continuous overload with
Imotor > 1.05 x Irx
x020 OU Overvoltage in the DC bus Braking energy is too high. Use braking unit or regenerative module.
(DC−bus voltage is higher than set in Check dimensioning of the brake
C0173.) resistor.
x030 LU Undervoltage in the DC bus DC−bus voltage is lower than the value Check mains voltage.
specified under C0173. Check power supply module.
x032 LP1 Motor phase failure A current−carrying motor phase has failed. Check motor.
Check motor cable.
Switch off monitoring (C0597 = 3).
The current limit value is set too low. Set higher current limit value via C0599.
x050 OH Heatsink temperature > +90 °C Ambient temperature Allow module to cool and ensure better
Tu > +40 °C or > +50 °C ventilation.
Check ambient temperature in the
control cabinet.
Heatsink is very dirty. Clean heatsink
Wrong mounting position Change mounting position.
x053 OH3 Motor temperature Motor is thermally overloaded due to: Check drive dimensioning.
> +150 °C threshold Impermissible continuous current Switch off monitoring (C0583 = 3).
(temperature detection via resolver or Frequent or too long acceleration
incremental value encoder) processes
No PTC/temperature contact connected. Correct wiring.
x054 OH4 Heatsink temperature > C0122 Ambient temperature Tu > +40 °C or Allow module to cool and ensure better
> +50 °C ventilation.
Check ambient temperature in the
control cabinet.
Heatsink is very dirty. Clean heatsink
Wrong mounting position Change mounting position.
The value specified under C0122 is set too Enter a higher value under C0122.
low.
x057 OH7 Motor temperature > C0121 Motor is thermally overloaded due to: Check drive dimensioning.
(temperature detection via resolver or Impermissible continuous current Switch off monitoring (C0584 = 3).
incremental value encoder) Frequent or too long acceleration
processes
No PTC/temperature contact connected. Correct wiring.
The value specified under C0121 is set too Enter a higher value in C0121.
low.
x058 OH8 Motor temperature via inputs T1 and T2 is Motor is thermally overloaded due to: Check drive dimensioning.
too high. Impermissible continuous current Switch off monitoring (C0585 = 3).
Frequent or too long acceleration
processes
Terminals T1 and T2 are not connected Connect PTC/temperature contact.
x061 CE0 Automation interface (AIF) communication Faulty transfer of control commands via AIF. Plug on the communication
error module/keypad XT firmly, screw down, if
necessary.
3−14 9300 Servo PLC EN 4.1 l

9300 Servo PLC
Appendix

No. Display
x062 CE1 Communication error at the process data CAN1_IN object receives faulty data or Check wiring at X4.
input object CAN1_IN communication is interrupted. Check transmitter.
Increase monitoring time under
C0357/1, if necessary.
x065 CE4 BUS−OFF status of system bus (CAN) The controller has received too many faulty Check wiring at X4: Is the bus correctly
telegrams via the system bus (CAN) and has terminated?
disconnected from the bus. Check shield connection of the cables.
Check PE connection.
Check bus load, reduce the baud rate if
necessary. (Observe the cable length!)
Switch off the monitoring (C0595 = 3).
x066 CE5 Time−out of system bus (CAN) For remote parameterisation (C0370, Check wiring of system bus (CAN).
(communication error of gateway function) C0371) via system bus (CAN): Check CAN bus configuration.
Slave does not respond.
Communication monitoring time has
been exceeded.
x070 U15 Undervoltage of internal 15 V voltage supply Check voltage supply.
x071 CCR System fault Interference injection on control cables too Shield the control cables.
high
Ground or earth loops in the wiring Check wiring.
When the error has been eliminated:
Deenergise the controller completely!
0072 PR1 Check sum error in parameter set 1 Fault when loading a parameter set. Set the required parameters and save
CAUTION: Factory adjustment is loaded Interruption during transmission of the them with C0003 = 1.
automatically! parameter set via operating unit/keypad. For "PR0", additionally switch off the
supply voltage.
Check use of pointers.
The saved parameters do not match the Before the error can be acknowledged, the
loaded software version. parameter set must be saved with
C0003 = 1.
0074 PEr Program error Error detected in program sequence Send parameter set (on floppy
disk/CD−ROM) and a detailed description of
the problem to Lenze.
0075 PR0 Parameter set error Error while loading a parameter set. Set the required parameters and save
CAUTION: Factory adjustment is loaded Interruption during transmission of the them under C0003 = 1.
automatically! parameter set via keypad. Switch off the supply voltage.
When PLC devices are concerned, check
the use of pointers.
The saved parameters do not match the Before the error can be acknowledged, the
loaded software version. parameter set must be saved under
C0003 = 1.
l 9300 Servo PLC EN 4.1 3−15

9300 Servo PLC
Appendix

No. Display
0079 PI Error during parameter initialisation An error has been detected during Correct the parameter set.
parameter set transfer between two Check code initialisation values.
controllers. When the error has been eliminated:
The parameter set does not match the Deenergise the controller completely!
controller, for instance, if data is
transferred from a higher−performance
controller to a lower−performance
controller.
0080 PR6 Too many user codes Reduce the number of user codes.
x082 Sd2 Resolver error at X7 Resolver cable interrupted. Check cable for open circuit.
Check resolver.
x083 Sd3 Encoder error at X9 Cable interrupted. Check cable for open circuit.
Pin X9/8 not connected. Apply 5 V to pin X9/8 or switch off
monitoring (C0587 = 3).
x085 Sd5 Encoder error at X6 PIN 1 and 2 (C0034 = Master current value at X6 PIN 1 and Check cable for open circuit.
1) 2 < 2mA Check master current value encoder.
x086 Sd6 Motor temperature sensor error (X7 or X8) Encoder for detecting the motor Check cable for firm connection.
temperature at X7 or X8 indicates Switch off the monitoring (C0594 = 3).
undefined values.
x087 Sd7 Absolute−value encoder error at X8 Absolute value encoder at X8 does not Check cable for open circuit.
transmit any data. Check absolute value encoder.
Check supply voltage (C0421).
No Stegmann encoder connected.
x088 Sd8 Sin/cos encoder at X8 transmits The tracks in the sin/cos encoder are Replace the sin/cos encoder.
inconsistent data. defective.
The interference level on the encoder cable Check correct shield connection of the
is too high. encoder cable.
If necessary, delay the triggering of the
error message via the filter time
constants. Setting:
– For ECSxS/P/M/A under C0559.
– For 9300 servo cam profiler under
C0575.
Sin/cos encoder at X8 does not transmit Open circuit. Check cable for open circuit.
any data. Wrong encoder connected. Connect sin/cos encoder from Stegmann.
Sin/cos encoder defective. Replace the sin/cos encoder.
Incorrect setting for the supply voltage. Set voltage supply under C0421.
x089 PL Error during rotor position adjustment Sd7 error during a rotor position 1. Activate rotor position adjustment with
adjustment with absolute value encoder C0095 = 1.
after subsequent mains switching 2. Execute TRIP−RESET.
Abort of the rotor position adjustment 3. Re−execute rotor position adjustment.
(e.g. with C0095 = 0 or disconnection)
x091 EEr External monitoring has been actuated via A digital signal assigned to the TRIP−SET Check external encoder.
DCTRL. function has been activated. Switch off the monitoring (C0581 = 3).
0105 H05 Internal fault (memory) Contact Lenze.
0107 H07 Internal fault (power stage) During initialisation of the controller, an Contact Lenze.
incorrect power stage was detected.
x108 H08 "Extension board" error "Extension board" not connected correctly. Connect "extension board" correctly.
Check connector.
"Extension board" is not supported by PLC Adapt PLC program to "extension
program. board".
Use "extension board" which is
supported by PLC program.
3−16 9300 Servo PLC EN 4.1 l

9300 Servo PLC
Appendix

No. Display
X110 H10 Heatsink temperature sensor error Sensor for detecting the heatsink Contact Lenze.
temperature indicates undefined values. Switch off the monitoring (C0588 = 3).
x111 H11 Temperature sensor error: Temperature Sensor for detecting the internal Contact Lenze.
inside the controller temperature indicates undefined values. Switch off the monitoring (C0588 = 3).
x122 CE11 Communication error at process data input FIF−CAN1_IN object receives faulty data or Check wiring.
object FIF−CAN1_IN communication is interrupted. Check transmitter.
Increase monitoring time under C2457/1
if necessary.
if necessary.
if necessary.
x125 CE14 BUS−OFF status of FIF−CAN The module has received too many faulty Check wiring: Is the bus correctly
(too many faulty telegrams have been telegrams via the system bus (CAN) and has terminated?
received) disconnected from the bus. Check shield connection of the cables.
Check bus load, reduce the baud rate if
necessary. (Observe the cable length!)
x190 nErr Speed control error Active load (e.g. for hoists) is too high. Check drive dimensioning.
(speed out of tolerance margin (C0576)) Mechanical blockades on the load side
x200 Nmax Maximum speed (C0596) has been Active load (e.g. for hoists) is too high. Check drive dimensioning.
exceeded. Drive is not speed−controlled, torque is Increase torque limit, if necessary.
excessively limited.
x201 overrun Time−out in task 1 (ID 2) Processing of the task takes longer than the Adapt length of the task runtime.
Task1 monitoring time set. Adapt monitoring time.
x202 overrun Time−out in task 2 (ID 3) Determine the cause of the time−out by
Task2 checking the task runtime on the task
monitor.
x203 overrun Time−out in task 3 (ID 4)
Swap out time−critical program parts to
Task3 a slower task.
Task4
Task5
Task6
Task7
Task8
l 9300 Servo PLC EN 4.1 3−17

9300 Servo PLC
Appendix

No. Display
x209 float Float error in system task (ID 0) Error in real calculation Check calculations (program code).
Sys−T (e.g. division by 0)
x210 float Float error in cyclic task (PLC_PRG, ID 1)
Cycl.−T
x211 float Task1 Float error in task 1 (ID 2)
x219 overrun Time−out in cyclic task (PLC_PRG, ID 1) Processing of the task takes longer than the Adapt length of the task runtime.
Cyc.−t monitoring time set. Adapt monitoring time.
Determine the cause of the time−out by
checking the task runtime on the task
monitor.
Swap out time−critical program parts to
a slower task.
0220 noT−Fkt Not enough technology units available. A program with technology functions has Use technology variant of the controller.
Credit been tried to be loaded to a controller not Contact Lenze, if necessary.
providing the corresponding units.
0230 No Missing PLC program No PLC program loaded. Load PLC program.
Program
0231 Unallowed PLC program calls invalid library function. In the PLC program a library function has Remove library function or ensure that
Lib been called which is not supported by the the corresponding hardware is available.
controller (e.g. because the corresponding Contact Lenze, if necessary.
hardware is missing).
0232 NoCam Motion profiles (cam data) are not available. When calling functions of the function Ensure that the valid cam data has been
Data library LenzeCamControl.lib it was attached to the project via the DDS CAM
detected that there are no motion profiles support.
(CAM data) loaded in the memory of the Reload the PLC program into the
controller. controller. (Possibly the command
OnlineWReset (origin) has been
executed in DDS.)
x240 ovrTrans "Free CAN objects" error Overflow of the transmit request memory Reduce the number of transmit
Queue requests.
Prolong the cycle time.
x241 ovr Receive Too many receive telegrams Reduce the number of telegrams on the
system bus (CAN).
x250 2.Flash Err Error during FLASH memory access The PLC program tries to access a faulty Ensure that the PLC is provided with the
FLASH memory or a FLASH memory that corresponding FLASH memory. If the FLASH
does not exist memory is OK, contact Lenze.
x251 AddData CsErr Error during FLASH memory access Check sum error occurred when loading Check the checksum of the file to be loaded
data into the FLASH memory and repeat the data transfer.
x252 AddData DlErr Error during FLASH memory access An error occurred when downloading the Check/repeat data transfer.
data into the FLASH memory (e.g. time−out,
transmission error, mains failure during
transmission)
x260 Err Node "Life guarding event" The controller configured as a CAN slave Check wiring at X4.
Guard does not receive a "Node Guarding" Check CAN configuration.
telegram from the CAN master within the Ensure that "node guarding" has been
"Node Life Time". activated in the CAN master
Adapt the "node life time" (C0383) to
CAN master setting.
3−18 9300 Servo PLC EN 4.1 l

9300 Servo PLC
Appendix
3.5.5 Fault analysis via the fault memory

The fault memory of the PLC consists of 8 memory locations which store the following information
about the active fault and the 7 previous faults in their chronological order of occurrence:
No. of system error message (^ 3−9)
Response to the fault (warning, message, TRIP, etc.) (^ 3−9)
Time of occurrence (referred to power−on time of the PLC, e.g. "1234567 s")
Frequency of successive occurrence
The fault memory information is stored under codes C0168/x ... C0170/x:
C0168 C0169 C0170 Subcode Contains information about
1 Active fault
2 Last fault
3 Last but one fault
No. of the Frequency 4 Last but two fault
Time
system error message of successive
and response
of occurrence
occurrence 5 Last but three fault
6 Last but four fault
7 Last but five fault
8 Last but six fault
Tip!
The fault memory works according to the principle of a shift register:
If the current fault is no longer active or has been acknowledged by a TRIP−RESET, all information
is automatically shifted up one subcode in the fault memory.
The information concerning the previously active fault is now stored under subcode 2.
The information concerning the previous last but six fault is deleted from the fault memory and
cannot be retrieved any longer.
Note!
If several faults causing different responses occur simultaneously:
– Only the fault causing the highest−priority response is entered into the fault memory
(priority = TRIP → message → FAIL−QSP → warning).
If several faults causing the same response occur simultaneously (e.g. 2 messages):
– Only the fault occurring first is entered into the fault memory.
If a fault occurs several times in succession:
– Only the time of the last occurrence is entered into the fault memory.
l 9300 Servo PLC EN 4.1 3−19

9300 Servo PLC
Appendix
Fault reset
The current fault can be reset by a TRIP−RESET e.g. via C0043:
Lenze Selection
C0043 Trip reset 0 TRIP reset
0 TRIP−RESET (current TRIP reset)
1 Error occurred (TRIP is active)
Deleting entries in the fault memory

The entries in the fault memory can be deleted via C0167.
This function can only be used if there is no active fault.
Lenze Selection
C0167 Reset failmem 0 Reset fault memory
0 No function
1 Delete all entries in history buffer
Access to fault memory via Global Drive Control (GDC)

The fault memory of the PLC can also be displayed in the GDC.
Double−click on "Dialog diagnostics" in the GDC parameter menu to open the 9300
diagnostics dialog box:
History buffer

No. of system error message and response (C0168/x)

Time of occurrence (C0169/x)
Frequency of successive occurrence (C0170/x)
Reset of the fault (TRIP−RESET); only possible if there is no active fault.
3−20 9300 Servo PLC EN 4.1 l

9300 Servo PLC
Appendix
3.5.6 Fault analysis via the LED display of the PLC

Two LEDs at the front of the PLC indicate the controller status:
LED green LED red Controller status Check
Controller enabled; no fault
Controller inhibit, switch−on inhibit C0183; or C0168/1
FAIL C0168/1
Warning, FAIL−QSP C0168/1
on off blinking
3.5.7 Fault analysis via the 9371BB keypad

Displayed status messages indicate the controller status:
Display Controller status Check
RDY PLC ready for operation; controllers can be inhibited C0183, C0168/1
IMP Pulses at the power stage inhibited C0183, C0168/1
Imax Max. current reached
Mmax Max. torque reached
Fail Fault through TRIP, message, FAIL−QSP or warning C0183, C0168/1
3.5.8 Fault analysis via the LECOM status word C0150

The status word C0150 is bit−coded as follows:
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
Free Message Warning RSP Speed Free IMP Free
1 active 1 active 1 actual =0 1 active
value
Controller status
0 0 0 0 Controller initialisation
0 0 0 1 Switch−on inhibit
0 0 1 1 Controller inhibited (RSP)
0 1 1 0 Controller enabled
0 1 1 1 Message active
1 0 0 0 Fault active
1 0 0 1 Power off
1 0 1 0 FAIL−QSP
l 9300 Servo PLC EN 4.1 3−21

9300 Servo PLC
Appendix
3.6 Code table
How to read the code table:
Column Abbreviation Meaning

Code C0168 Code C0168
1 Subcode 1 of code C0168
… …
[C0156] Parameter value of code can only be changed when controller is inhibited.
LCD Keypad LCD
Lenze Lenze setting of the code
g Display code (can only be displayed)

The "Info" column contains more information.
Selection 1 {1 %} 99 Minimum value {Smallest step/unit} Maximum value
Info Additional information on code

Lenze Selection
[C0002] Par load 0 Load parameter set
Only possible when PLC has been stopped.
Parameter set 1 is automatically loaded after
power−on.
0 Load Lenze setting into RAM
1 Load parameter set 1 into RAM
C0003 Par save 0 Save parameter set
Also possible when PLC is in operation.
0 Saving completed
1 Non−volatile saving of parameter set 1
C0004 Op display 56 Keypad operating display
Keypad indicates selected code in the operating level if
no other status indications of C0183 are active.
All available codes
[C0006] Op mode
Operating mode of the motor control

Dependent on C0086
If C0086 is changed, the value is reset to the assigned
Lenze setting
Change of C0006 sets C0086 = 0!
ESC (Extended Speed Control):
Speed control with increased speed control steadiness
for operation with incremental encoder only (not
resolver!).
2 Servo async Y Servo control for asynchronous motors in star connection
3 Servo PM−SM Y Servo control for synchronous motors in star connection
22 Servo async Servo control for asynchronous motors in delta connection
31 ASM Y − ESC Servo control for asynchronous motors in star connection,
ESC
32 PM−SM Y − ESC Servo control for synchronous motors in star connection,
ESC
33 ASM − ESC Servo control for asynchronous motors in delta connection,
ESC
C0009 LECOM address 1 LECOM controller address
(bus node number for operation via interface)
10, 20, ..., 90 reserved for broadcast to node groups
with RS232, RS485, fibre optics.
1 {1} 99
3−22 9300 Servo PLC EN 4.1 l

9300 Servo PLC
Appendix

Lenze Selection
C0011 Nmax 3000 Maximum speed
Reference value for the absolute and relative setpoint
selection for the acceleration and deceleration times.
For parameterisation via interface:
Large changes in one step should only be made when
the controller is inhibited.
500 {1 rpm} 16000
C0017 FCODE (Qmin) 50 Freely configurable code
FCODE_nC17_a (switching threshold nact. < nx)
−16000 {1 rpm} 16000
C0018 fchop 1 Switching frequency
0 16/8 kHz automatic changeover Optimum noise reduction with automatic changeover to 8
kHz
1 8 kHz sine Power−optimised operation
2 16 kHz sine Noise−optimised operation
C0019 Thresh nact=0 0 Threshold for nact. = 0 being detected.
(signal for DCTRL_bNActEq0_b)
0 {1 rpm} 16000
C0022 Imax current
Imax limit

Dependent on C0086
Lenze setting (1.5 * Imotor)
0 {0.01 A} 1.50 Ir
[C0025] Feedback type 10 Selection of the feedback system
Input of the encoder specified on the nameplate of the
Lenze motor:
C0025 automatically changes C0420, C0490, C0495
0 COMMON C0420, C0490 or C0495 has been changed subsequently
10 RSx (resolver) The resolver is designated with RSxxxxxxxx.
110 IT−512−5V Incremental encoder with TTL level
111 IT−1024−5V
112 IT−2048−5V
113 IT−4096−5V
210 IS−512−5V Sin/cos encoder
211 IS−1024−5V
212 IS−2048−5V
213 IS−4096−5V
310 AS−8V Single turn
Sin/cos encoder with RS485 interface, from Stegmann
For the number of encoder increments see C0420
410 AM−8V Multi turn
Sin/cos encoder with RS485 interface, from Stegmann
For the number of encoder increments see C0420
C0026 FCODE (offset) Freely configurable code (relative analog signals)
−199.99 {0.01 %} 199.99
1 0.00 FCODE_nC26_1_a (offset for terminal X6/1,2)
2 0.00 FCODE_nC26_2_a (offset for terminal X6/3,4)
C0027 FCODE (gain) Freely configurable code (relative analog signals)
−199.99 {0.01 %} 199.99
1 100.00 FCODE_nC27_1_a (gain X6/1,2)
2 100.00 FCODE_nC27_2_a (gain X6/3,4)
l 9300 Servo PLC EN 4.1 3−23

9300 Servo PLC
Appendix

Lenze Selection
C0030 DFOUT const 3 Constant for the digital frequency output
C0032 FCODE Gearbox 1 Freely configurable code (absolute analog signals)
FCODE_nC32_a (gearbox factor numerator)
−32767 {1} 32767
C0034 Mst current 0 Analog input AIN1_nIn_a:
Selection: Master voltage/master current for setpoint
selection
0 −10 V ... + 10 V
1 +4 mA ... +20 mA
2 −20 mA ... +20 mA
C0037 Set−value rpm 0 Freely configurable code (absolute speed signals)
FCODE_nC37_a (setpoint selection in rpm)
−16000 {1 rpm} 16000
C0040 Ctrl enable 1 Controller inhibit (CINH)
Write to code: Enable/inhibit controller
Read code: Read controller status
0 Controller inhibited
1 Controller enabled
C0042 DIS: QSP g Quick stop status (QSP)
0 QSP not active
1 QSP active
C0043 Trip reset 0 TRIP reset
0 TRIP−RESET (current TRIP reset)
1 Error occurred (TRIP is active)
C0050 MCTRL−NSET2 g Speed setpoint at speed controller input (nNsetIn_a)
−100.00 {0.01 %} 100.00
C0051 MCTRL−NACT g Actual speed value
−30000 {1 rpm} 30000
C0052 MCTRL Umot g Motor voltage
0 {1 V} 800
C0053 UG−VOLTAGE g DC−bus voltage
0 {1 V} 900
C0054 Imot g Motor current
0.0 {0.1 A} 500.0
C0056 MCTRL−MSET2 g Torque setpoint (nMSetIn_a)
−100.00 {0.01 %} 100.00
C0057 Max Torque g Maximum possible torque of the drive configuration
Dependent on C0022, C0086
0.0 {0.1 Nm} 500.0
C0058 Rotor diff 0.0 Zero phase of the rotor for synchronous motors (C0095)
−180.0 {0.1 _} 179.9
C0059 Mot pole no. g Pole pair number of the motor
1 {1} 50
C0060 Rotor pos g Current rotor position
1 rev. = 2048 inc.
0 {1} 2047
3−24 9300 Servo PLC EN 4.1 l

9300 Servo PLC
Appendix

Lenze Selection
C0061 Heatsink temp g Heatsink temperature
0 {1 °C} 100
C0063 Mot temp g Motor temperature
0 {1 °C} 200
C0064 Utilization g Controller load I x t during the last 180 seconds
C0064 >100 % trips OC5.
TRIP−RESET is only possible if C0064 < 95 %.
0 {1 %} 150
C0067 Act trip g Current TRIP
("0" is displayed for FAIL−QSP, warning and message.)
C0070 Vp speed CTRL
Proportional gain of speed controller (Vpn)

Dependent on C0086
Lenze setting.
0.0 {0.5} 255.0
C0071 Tn speed CTRL
Reset time of speed controller (Tnn)

Dependent on C0086
Lenze setting.
1.0 {0.5 ms} 600.0
>512 ms = switched off
C0072 Td speed CTRL 0.0 Derivative gain of speed controller (Tdn)
0.0 {0.1 ms} 32.0
C0075 Vp curr CTRL
Proportional gain of current controller (Vpi)

Dependent on C0086
Lenze setting.
0.00 {0.01} 15.99
C0076 Tn curr CTRL
Reset time of current controller (Tni)

Dependent on C0086
Lenze setting.
0.5 {0.1 ms} 2000.0
C0077 Vp field CTRL 0.25 Proportional gain of field controller (VpF)
0.00 {0.01} 15.99
C0078 Tn field CTRL 15.0 Reset time of field controller (TnF)
1.0 {0.5 ms} 8000.0
[C0081] Mot power
Rated motor power according to nameplate

Dependent on C0086
Lenze setting
0.01 {0.01 kW} 500.00
[C0084] Mot Rs
Stator resistance of the motor

Dependent on C0086
Lenze setting
0.00 {0.01 } 100.00
[C0085] Mot Ls
Leakage inductance of the motor

Dependent on C0086
Lenze setting
0.00 {0.01 mH} 200.00
l 9300 Servo PLC EN 4.1 3−25

9300 Servo PLC
Appendix

Lenze Selection
[C0086] Mot type
Selection of the motor type

Dependent on the controller
If C0086 is changed, C0006, C0022, C0070, C0071,
C0081, C0084, C0085, C0087, C0088, C0089, C0090,
C0091 are reset to the assigned Lenze setting
0 COMMON Non−Lenze motor
New generation of Lenze asynchronous servo motors Integrated temperature monitoring via resolver or
encoder cable
Temperature monitoring via resolver or encoder cable
is automatically activated, i.e.:
C0583 = 0
C0584 = 2
C0594 = 0
10 DSKA56−140 MDSKAXX056−22, fr: 140Hz
11 DFKA71−120 MDFKAXX071−22, fr: 120Hz
30 DFQA100−50 MDFQAXX100−50, fr: 50Hz
3−26 9300 Servo PLC EN 4.1 l

9300 Servo PLC
Appendix

Lenze Selection
[C0086] Mot type Lenze asynchronous servo motors Without integrated temperature monitoring
is automatically deactivated, i.e.:
C0583 = 3
C0584 = 3
C0594 = 3
50 DSVA56−140 DSVAXX056−22, fr: 140Hz
51 DFVA71−120 DFVAXX071−22, fr: 120Hz
52 DSVA71−140 DSVAXX071−22, fr: 140Hz
53 DFVA80−60 DFVAXX080−22, fr: 60Hz
54 DSVA80−70 DSVAXX080−22, fr: 70Hz
55 DFVA80−120 DFVAXX080−22, fr: 120Hz
56 DSVA80−140 DSVAXX080−22, fr: 140Hz
57 DFVA90−60 DFVAXX090−22, fr: 60Hz
58 DSVA90−80 DSVAXX090−22, fr: 80Hz
59 DFVA90−120 DFVAXX090−22, fr: 120Hz
60 DSVA90−140 DSVAXX090−22, fr: 140Hz
61 DFVA100−60 DFVAXX100−22, fr: 60Hz
62 DSVA100−80 DSVAXX100−22, fr: 80Hz
63 DFVA100−120 DFVAXX100−22, fr: 120Hz
64 DSVA100−140 DSVAXX100−22, fr: 140Hz
65 DFVA112−60 DFVAXX112−22, fr: 60Hz
66 DSVA112−85 DSVAXX112−22, fr: 85Hz
67 DFVA112−120 DFVAXX112−22, fr: 120Hz
68 DSVA112−140 DSVAXX112−22, fr: 140Hz
New generation of Lenze synchronous servo motors Integrated temperature monitoring via resolver or
encoder cable
is automatically activated, i.e.:
C0583 = 0
C0584 = 2
C0594 = 0
108 DSKS36−13−200 MDSKSXX036−13, fr: 200Hz
113 DFKS71−13−150 MDFKSXX071−13, fr: 150Hz
160 DSKS56−23−190 MDSKSXX56−23−190, fr:190Hz
162 DFKS71−03−170 MDFKSXX71−03−170, fr:170Hz
l 9300 Servo PLC EN 4.1 3−27

9300 Servo PLC
Appendix

Lenze Selection
[C0086] Mot type Lenze inverter motor in star connection Temperature monitoring via resolver or encoder cable
C0583 = 3
C0584 = 3
C0594 = 3
210 DXRA071−12−50 DXRAXX071−12, fd: 50Hz
211 DXRA071−22−50 DXRAXX071−22, fd: 50Hz
212 DXRA080−12−50 DXRAXX080−12, fd: 50Hz
214 DXRA090−12−50 DXRAXX090−12, fd: 50Hz
215 DXRA090−32−50 DXRAXX090−32, fd: 50Hz
216 DXRA100−22−50 DXRAXX100−22, fd: 50Hz
217 DXRA100−32−50 DXRAXX100−32, fd: 50Hz
218 DXRA112−12−50 DXRAXX112−12, fd: 50Hz
219 DXRA132−12−50 DXRAXX132−12, fd: 50Hz
220 DXRA132−22−50 DXRAXX132−22, fd: 50Hz
221 DXRA160−12−50 DXRAXX160−12, fd: 50Hz
222 DXRA160−22−50 DXRAXX160−22, fd: 50Hz
223 DXRA180−12−50 DXRAXX180−12, fd: 50Hz
224 DXRA180−22−50 DXRAXX180−22, fd: 50Hz
225 30kW−ASM−50
226 37kW−ASM−50
227 45kW−ASM−50
228 55kW−ASM−50
229 75kW−ASM−50
Lenze inverter motor in delta connection Temperature monitoring via resolver or encoder cable
C0583 = 3
C0584 = 3
C0594 = 3
250 DXRA071−12−87 DXRAXX071−12, fd: 87Hz
251 DXRA071−22−87 DXRAXX071−22, fd: 87Hz
252 DXRA080−12−87 DXRAXX080−12, fd: 87Hz
254 DXRA090−12−87 DXRAXX090−12, fd: 87Hz
255 DXRA090−32−87 DXRAXX090−32, fd: 87Hz
256 DXRA100−22−87 DXRAXX100−22, fd: 87Hz
257 DXRA100−32−87 DXRAXX100−32, fd: 87Hz
258 DXRA112−12−87 DXRAXX112−12, fd: 87Hz
259 DXRA132−12−87 DXRAXX132−12, fd: 87Hz
260 DXRA132−22−87 DXRAXX132−22, fd: 87Hz
261 DXRA160−12−87 DXRAXX160−12, fd: 87Hz
262 DXRA160−22−87 DXRAXX160−22, fd: 87Hz
263 DXRA180−12−87 DXRAXX180−12, fd: 87Hz
264 DXRA180−22−87 DXRAXX180−22, fd: 87Hz
265 30kW−ASM−87
266 37kW−ASM−87
267 45kW−ASM−87
268 55kW−ASM−87
269 75kW−ASM−87
[C0087] Mot speed
Rated motor speed

Dependent on C0086
Lenze setting
300 {1 rpm} 16000
[C0088] Mot current
Rated motor current

Dependent on C0086
Lenze setting
0.5 {0.1 A} 500.0
3−28 9300 Servo PLC EN 4.1 l

9300 Servo PLC
Appendix

Lenze Selection
[C0089] Mot frequency
Rated motor frequency

Dependent on C0086
Lenze setting
10 {1 Hz} 1000
[C0090] Mot voltage
Rated motor voltage

Dependent on C0086
Lenze setting
50 {1 V} 500
[C0091] Mot cos phi
Motor cos

Dependent on C0086
Lenze setting
0.50 {0.01} 1.00
C0093 DRIVE ident g Controller identification
0 Def. power stage
1 No power stage
93xx 93xx
C0094 Password 0 Keypad password protection
Parameter password protection for the keypad.
When the password is activated, only user−menu codes
can be accessed.
For extended password protection, please see C0096.
0 {1} 9999
0 = No password protection
[C0095] Rotor pos adj 0 Rotor position adjustment of a synchronous motor
C0058 displays the zero phase of the rotor
C0095 = 1 starts position adjustment
0 Not active
1 Active
C0096 AIF/CAN prot. AIF/CAN password protection
Extended password protection for bus systems when
password is activated (C0094).
All codes in the user menu can be accessed.
0 No password protection
1 Read protection
2 Write protection
3 Read/write protection
1 0 AIF password protection
2 0 CAN password protection
C0098 Zero pos offs 0 Setting the reference position of the feedback system
For position feedback (integrator output
MCTRL_dnPos_p of the motor control)
Only possible when the controller is inhibited.
Caution: This code returns an invalid value when it is
read.
−2147483647 {1 inc} 2147483647
C0099 S/W version g Software version of operating system
Referred to speed change nmax (C0011) ... 0
0.000 {0.001 s} 999.900
l 9300 Servo PLC EN 4.1 3−29

9300 Servo PLC
Appendix

Lenze Selection
C0108 FCODE (gain) Freely configurable code (relative analog signals)
−199.99 {0.01 %} 199.99
1 100.00 FCODE_nC108_1_a
2 100.00 FCODE_nC108_2_a
C0109 FCODE (offset) Freely configurable code (relative analog signals)
−199.99 {0.01 %} 199.99
1 0.00 FCODE_nC109_1_a
2 0.00 FCODE_nC109_2_a
C0111 Rr tune 100 % Adjustment of the rotor resistance
(Particularly recommended for non−Lenze motors and high
field weakening.)
Adjustment in % of the rated rotor resistance of the
motor.
50.00 {0.01 %} 199.99
C0114 DIGIN pol Terminal polarity
0 HIGH active
1 LOW active
1 1 X5/E1
2 1 X5/E2
3 0 X5/E3
4 0 X5/E4
5 0 X5/E5
C0118 DIGOUT pol Terminal polarity
0 HIGH active
1 LOW active
1 0 X5/A1
2 0 X5/A2
3 0 X5/A3
4 0 X5/A4
C0121 OH7 limit 150 Temperature threshold for motor temperature prewarning
"TMot > C0121" (fault OH7)
45 {1 °C} 150
C0122 OH4 limit 85 Temperature threshold for heatsink temperature
prewarning "Tht > C0122" (fault OH4)
45 {1 °C} 85
C0125 Baud rate 0 LECOM baud rate for accessory module 2102
0 9600 bps
1 4800 bps
2 2400 bps
3 1200 bps
4 19200 bps
C0126 MONIT CE0 3 Configuration for communication error "CE0" with
automation interface
0 TRIP
2 Warning
3 Off
3−30 9300 Servo PLC EN 4.1 l

9300 Servo PLC
Appendix

Lenze Selection
C0135 System Var 0 Internal code
Control word for networking via automation interface
(AIF)
FCODE_bC135Bit0_b ... FCODE_bC135Bit15_b
0 {1} 65535
Bit 00 Freely configurable 0
Bit 03 QSP
Bit 08 Operation inhibited
Bit 09 RSP
Bit 10 TRIP set
Bit 11 TRIP reset
C0136 CTRLWORD g Control word
0 {hex} FFFF
1 DCTRL_DriveControl
2 CAN1_IN
3 AIF1_IN
C0141 FCODE (setval) 0.00 Freely configurable code (relative analog signals)
FCODE_nC141_a
−199.99 {0.01 %} 199.99
C0142 Start options 1 Starting performance of the Servo PLC
After power−on
After message (t > 0.5 s)
After TRIP
0 Start protection
1 Automatic start
C0150 Status word g Status word DCTRL_wStat
0 {1} 65535
Bit 01 IMP
Bit 06 n=0
Bit 07 RSP
Bit 08 Status
Bit 09 Status
Bit 10 Status
Bit 11 Status
Bit 12 Warning
Bit 13 Message
l 9300 Servo PLC EN 4.1 3−31

9300 Servo PLC
Appendix

Lenze Selection
[C0151] CAN/AIF FDO g Free digital CAN/AIF outputs
0 {hex} FFFF
Hexadecimal value is bit−coded:
1 Bit 00 CAN1_bFDO0_b CAN1_OUT
... ...
Bit 15 CAN1_bFDO31_b
... ...
... ...
4 Bit 00 AIF1_bFDO0_b AIF1_OUT
... ...
Bit 15 AIF3_bFDO31_b
C0155 Status word 2 (extended status word)
0 {1} 65535
Bit 00 Fail
Bit 01 Mmax
Bit 02 Imax
Bit 03 IMP
Bit 04 RDY
Bit 05 RSP
Bit 06 TRIP
Bit 07 Init
Bit 08 CW/CCW
Bit 09 Not assigned
... ...
Bit 15 Not assigned
C0157 Stat. FreeBit g Status word DCTRL: Status of freely definable bits
0 1
1 DCTRL_bStateB0_b
2 DCTRL_bStateB2_b
3 DCTRL_bStateB3_b
4 DCTRL_bStateB4_b
5 DCTRL_bStateB5_b
6 DCTRL_bStateB14_b
7 DCTRL_bStateB15_b
C0161 Act trip g Current TRIP
Same as C0168/1
"0" is displayed for FAIL−QSP, warning and message.
C0167 Reset failmem 0 Reset fault memory
0 No function
1 Delete all entries in history buffer
C0168 Fail number g Fault memory: Error messages
List with error messages in their chronological order of
occurrence.
All error messages
1 Current error message
2 Last error message
3 Last but one error message
4 Last but two error message
5 Last but three error message
6 Last but four error message
7 Last but five error message
8 Last but six error message
3−32 9300 Servo PLC EN 4.1 l

9300 Servo PLC
Appendix

Lenze Selection
C0169 Failtime g Fault memory: Power−on time
Listing of the power−on times until an error message
has occurred under C0168/x.
Refers to the power−on time meter (C0179)
0 {1 s} 65535
C0170 Counter g Fault memory: Frequency of error messages
List with the frequency of successive occurrence of an
error message under C0168/x.
0 {1} 65535
[C0172] 0V reduce 10 Threshold for activating the braking torque derating before
OU trip
0 {10 V} 100
[C0173] UG limit 1 Adaptation of DC−bus voltage thresholds
Check during commissioning and adapt if necessary
All drive components in interconnected drives must
have the same thresholds
0 Mains < 400 V; with or without brake unit
3 Mains = 480 V; without brake unit
4 Mains = 480 V; with brake unit
C0178 Op timer g Elapsed−hour meter
Time the controller was enabled.
0 {1 s} 4294967295
C0179 Mains timer g Power−on time meter
Power−on time
0 {1 s} 4294967295
l 9300 Servo PLC EN 4.1 3−33

9300 Servo PLC
Appendix

Lenze Selection
C0183 Diagnostics g Drive diagnostics
Indicates fault and status information.
If several items of fault or status information are
present simultaneously, the item with the lowest
number is displayed
0 OK No fault
101 Initializing Initialisation phase
102 TRIP/error TRIP active
103 Emergency stop Emergency stop executed
104 IMP message Message active
105 Power off
111 BSP C135 Operation inhibit C135
112 BSP AIF Operation inhibit AIF
113 BSP CAN Operation inhibit CAN
121 RSP terminal 28 Controller inhibited via: X5/28
122 RSP internal 1 DCTRL−CINH1
123 RSP internal 2 DCTRL−CINH2
124 RSP C135/STOP STOP key of 9371BB
125 RSP AIF Controller inhibited via AIF
126 RSP CAN Controller inhibited via CAN
131 FAIL−QSP
141 Power−up inhibit Restart protection active
142 IMP inhibit Power outputs at high resistance
151 QSP external terminal QSP via MCTRL−QSP
152 QSP C135/STOP QSP via STOP key
153 QSP AIF QSP via AIF
154 QSP CAN QSP via CAN
160 PLC stop PLC stopped
250 Warning Warning active (C0168)
C0199 BuildNumber g Operating system software creation number
C0200 S/W Id g Operating system software product code
C0201 S/W date g Operating system software creation date
C0202 Internal ID g Internal identification
1 MPC1
2 MPC2
3 MPC3
4 MPC4
C0203 Komm.−No. g Commission number
C0204 Serial−No. g Serial number
C0205 Target−Id g Identification number of the PLC
C0206 Produkt date g Production date
C0207 DL info 1 g Download info 1
C0250 FCODE 1Bit 0 Freely configurable code (digital signals)
FCODE_bC250_b
0 1
C0254 Vp angle CTRL 0.4000 Gain of phase controller (Vp)
0.0000 {0.0001} 3.9999
C0300 Internal error diagnostics
C0350 CAN address 1 System bus: Node address
1 {1} 63
3−34 9300 Servo PLC EN 4.1 l

9300 Servo PLC
Appendix

Lenze Selection
C0351 CAN baudrate 0 System bus: Baud rate
0 500 kbit/s
1 250 kbit/s
2 125 kbit/s
3 50 kbit/s
4 1000 kbit/s
5 20 kbit/s
C0352 CAN mst 0 System bus: Master/slave configuration of the PLC
With selection 1 or 2, the PLC sends a system bus
boot−up and is thus quasi" master.
Additional information about the "heartbeat" and "node
guarding" function can be found in the Manual for the
function library LenzeCanDSxDrv.lib.
0 Slave (boot−up not active)
1 Master (boot−up active)
2 Master with "node guarding"
(SyncReceived no longer possible)
3 Slave and "heartbeat" producer
4 Slave with "node guarding"
C0353 CAN addr sel System bus: Source for PDO identifiers
0 Identifier assignment under
C0350 + basic identifier
1 Identifier assignment under C0354/x
1 0 CAN1_IN/OUT
2 0 CAN2_IN/OUT
3 0 CAN3_IN/OUT
C0354 CAN addr System bus: Definition of individual PDO identifiers
Value to be entered = Identifier − 384
1 {1} 512
1 129 CAN1_IN
2 1 CAN1_OUT
3 257 CAN2_IN
4 258 CAN2_OUT
5 385 CAN3_IN
6 386 CAN3_OUT
C0355 CAN Id g System bus: PDO identifiers
385 {1} 896
1 CAN1_IN
2 CAN1_OUT
3 CAN2_IN
4 CAN2_OUT
5 CAN3_IN
6 CAN3_OUT
C0356 CAN boot up System bus: Time settings
1 3000 0 {1 ms} 65000 Delay time after power−on for initialisation through the
quasi" master.
2 0 0 {1} 65000 Task time factor for sending the CAN2_OUT process data
0 = Event−controlled transmission object.
3 0 Task time factor for sending the CAN3_OUT process data
object.
4 20 0 {1 ms} 65000 Delay time for sending the process data object.
C0357 CE monit time System bus: Monitoring time for process data input objects
0 {1 ms} 65000
1 3000 CE1 monitoring time
2 3000 CE2 monitoring time
3 3000 CE3 monioring time
l 9300 Servo PLC EN 4.1 3−35

9300 Servo PLC
Appendix

Lenze Selection
C0358 Reset node 0 System bus: Reset node
0 No function
1 CAN reset node
C0359 CAN state g System bus: Status
0 Operational
1 Pre−operational
2 Warning
3 Bus off
4 Stopped
C0360 CAN message g System bus: Telegram counter
(number of telegrams)
For values > 65535 counting restarts with 0
0 {1 ms} 65535
1 All sent (without free CAN objects)
2 All received (without free CAN objects)
3 Sent on CAN1_OUT
4 Sent on CAN2_OUT
5 Sent on CAN3_OUT
6 Sent on parameter data channel1
8 Received from CAN1_IN
11 Received from parameter data channel1
C0361 Load IN/OUT g System bus: Bus load
Trouble−free operation demands that the total bus load
(all connected devices) does not exceed 80 %.
0 {1 %} 100
1 All sent (without free CAN objects)
2 All received (without free CAN objects)
3 Sent on CAN1_OUT
4 Sent on CAN2_OUT
5 Sent on CAN3_OUT
C0362 Sync cycle g System bus: Time interval between 2 sync telegrams
(in preparation)
1 {1 ms} 30
C0363 Sync corr 1 System bus: Sync correction increments
1 0.2 s/ms
2 0.4 s/ms
3 0.6 s/ms
4 0.8 s/ms
5 1.0 s/ms
C0365 DIS:CAN active g Input signal CAN active
0 CAN not active
1 CAN active
3−36 9300 Servo PLC EN 4.1 l

9300 Servo PLC
Appendix

Lenze Selection
C0366 Sync response 1 System bus: Sync response
0 No response No response
1 Response to sync PLC responds to a sync telegram by sending the
CAN1_OUT object.
C0367 Sync Rx Id 128 System bus: Sync Rx identifier
Receive identifier of the sync telegram.
1 {1} 256
C0368 Sync Tx Id 128 System bus: Sync Tx identifier
Transmit identifier of the sync telegram.
1 {1} 256
C0369 Sync Tx Time 0 System bus: CAN sync send telegram cycle
A sync telegram with the identifier of C0368 is sent
with the set cycle time.
0 {1} 65000
0 = Off
C0370 Gateway addr. 0 System bus: Activate remote parameterisation
With a setting 0 all code write/read accesses are
redirected to the system bus node with the node
address set here.
The corresponding code is accessed via parameter
data channel SDO1 of the target device.
0 {1} 63
0 = Remote parameterisation deactivated
C0381 HeartProTime 0 System bus: Heartbeat (slave): HeartbeatProducerTime
Time interval for sending the "heartbeat" message.
Only relevant for setting C0352 = 3.
Additional information about the "heartbeat" function
can be found in the Manual for the function library
LenzeCanDSxDrv.lib.
0 {1 ms} 65535
C0382 GuardTime 0 System bus: Node guarding (slave): NodeGuardTime
Time interval for the status request from the master.
Additional information about the "node guarding"
function can be found in the Manual for the function
library LenzeCanDSxDrv.lib.
0 {1 ms} 65535
C0383 LifeTimeFact. 0 System bus: Node guarding (slave): NodeLifeTime factor
Factor for the NodeLifeTime monitoring time:
NodeLifeTime = C0383 x C0382 (NodeGuardTime)
0 {1} 255
C0384 Err NodeGuard 3 System bus: Node guarding (slave): Response to a "node
guarding" event.
0 TRIP
1 Message
2 Warning
3 Off
4 FAIL−QSP
C0400 DIS: OUT g Analog input terminal 1/2 (AIN1_nIn_a)
−199.99 {0.01 %} 199.99
C0405 DIS: OUT g Analog input terminal 3/4 (AIN2_nIn_a)
−199.99 {0.01 %} 199.99
l 9300 Servo PLC EN 4.1 3−37

9300 Servo PLC
Appendix

Lenze Selection
[C0416] Resolver adj 0 Correction of the resolver error
For Lenze motors:
Read resolver error from the nameplate
0 {1} 99999999
[C0420] Encoder const 512 Encoder: Constant for encoder input X8
1 {1 inc/rev} 8192
[C0421] Enc voltage 5.00 Encoder: Supply voltage for the encoder
CAUTION: Incorrect input may destroy the encoder
5.00 {0.1 V} 8.00
C0425 DFIN const 3 Digital frequency input DFIN_IO_DigitalFrequency:
Number of increments of the encoder input
C0426 DIS: OUT g Digital frequency input DFIN_IO_DigitalFrequency:
DFIN_nIn_v
−32767 {1 rpm} 32767
C0427 DFIN function 0 Digital frequency input DFIN_IO_DigitalFrequency:
Type of the digital frequency signal
0 2 phases
1 A = Speed / B = Direction
2 A or B = Speed or direction
C0428 DFIN TP sel. 0 Digital frequency input DFIN_IO_DigitalFrequency:
Touch probe selection
C0429 TP delay 0 Digital frequency input DFIN_IO_DigitalFrequency:
Touch probe delay
Compensation of delay times of the TP signal source at
X5/E5
−32767 {1 inc} 32767
C0431 DFIN TP EDGE 0 Digital frequency input DFIN_IO_DigitalFrequency:
Touch probe activation
For touch probe via digital input X5/E5
(C0428 = 1)
C0434 DIS: IN g Analog output terminal 62 (AOUT1_nOut_a)
−199.99 {0.01 %} 199.99
C0439 DIS: AOUT2 g Analog output terminal 63 (AOUT2_nOut_a)
−199.99 {0.01 %} 199.99
C0441 DIS: IN g State bus monitoring signal (STATE_BUS_bOut_b)
0 1
3−38 9300 Servo PLC EN 4.1 l

9300 Servo PLC
Appendix

Lenze Selection
C0443 DIS: DIGIT−OUT g Digital inputs
0 {dec} 255
Bit 0 DIGIN_bIn1_b X5/E1
Bit 5 STATE−BUS_bIn_b
Bit 6 DIGIN_bCInh_b
Bit 7 Not assigned
C0444 DIS: DIGOUT g Digital outputs
0 1
1 DIGOUT_bOut1_b X5/A1
[C0469] Fct STP key 2 Function of the STOP key of the operating module
Selected function is executed when the STOP key is
pressed.
Caution: Trouble−free functioning demands that the SB
DCTRL is integrated into the control configuration.
0 Deactivated
1 Controller inhibit
2 QSP
C0470 FCODE 8bit Freely configurable code (digital signals)
C0470 has the same memory address as C0471.
0 {hex} FFFF
1 0 C0470/1 = C0471, bit 0 ... 7
2 0 C0470/2 = C0471, bit 8 ... 15
3 0 C0470/3 = C0471, bit 16 ... 23
4 0 C0470/4 = C0471, bit 24 ... 31
C0471 FCODE 32bit 0 Freely configurable code (digital signals)
Variables assigned via FCODE_FreeCodes:
C0471 has the same memory address as C0470.
0 {1} 4294967296
C0472 FCODE analog Freely configurable code (relative analog signals)
−199.99 {0.01 %} 199.99
1 0 FCODE_bC472_1_a
2 0 FCODE_bC472_2_a
3 100 FCODE_bC472_3_a
4 0 FCODE_bC472_4_a
... ... ...
20 0 FCODE_bC472_20_a
C0473 FCODE abs Freely configurable code (absolute analog signals)
−32767 {1} 32767
1 1 FCODE_bC473_1_a
2 1 FCODE_bC473_2_a
3 0 FCODE_bC473_3_a
... ... ...
10 0 FCODE_bC473_10_a
l 9300 Servo PLC EN 4.1 3−39

9300 Servo PLC
Appendix

Lenze Selection
C0474 FCODE PH Freely configurable code (phase signals)
−2147483648 {1} 2147483647
1 0 FCODE_dnC474_1_p
... ... ...
5 0 FCODE_dnC474_5_p
C0475 FCODE DF Freely configurable code (phase difference signals)
−16000 {1 rpm} 16000
1 0 FCODE_nC475_1_v
2 0 FCODE_nC475_2_v
[C0490] Feedback pos 0 Feedback system for the position controller
C0490 = 0, 1, 2 can be mixed with
C0495 = 0, 1, 2.
C0490 = 3, 4 also sets C0495 to the same value.
0 Resolver at X7
1 Encoder TTL at X8
3 Absolute value encoder ST at X8
4 Absolute value encoder MT at X8
[C0495] Feedback n Feedback system for the speed controller
C0495 = 0, 1, 2 can be mixed with
C0490 = 0, 1, 2.
C0495 = 3, 4 also sets C0490 to the same value.
0 Resolver at X7
1 Encoder TTL at X8
3 Absolute value encoder ST (single turn) at X8
4 Absolute value encoder MT (multi turn) at X8
C0496 NactFilter on 0 Activation: Actual speed value filter time constant PT1
(C0497) on MCTRL_nNAct_a
0 Not active
1 Active
C0497 Nact filter 2.0 Actual speed value filter time constant PT1
0.0 {0.1 ms} 50.0
0 ms = switched off
C0504 PLC memory: RAM access via codes
C0505 More detailed information can be found in chapter
3.6.2, "RAM access via codes".
C0506
^ 3−52
C0507
C0508
C0509
C0510 ProtAppFlash 0 PLC memory: Write protection of the application FLASH
0 No write protection
1 Write protection
3−40 9300 Servo PLC EN 4.1 l

9300 Servo PLC
Appendix

Lenze Selection
C0517 User menu User menu with up to 32 entries
The numbers of desired codes are entered under the
subcodes.
The data is input in xxx.yy format
– xxx: Code number
– yy: Subcode for code
There is no check whether the entered code exists.
0.00 {0.01} 7999.00
1 51.00 C0051/0 MCTRL−NACT
2 54.00 C0054/0 Imot
3 56.00 C0056/0 MCTRL−MSET2
4 0.00 Not assigned
5 0.00 Not assigned
6 183.00 C0183/0 Diagnostics
7 168.01 C0168/1 Fail number
8 86.00 C0086/0 Mot type
9 22.00 C0022/0 Imax current
10 0.00 Not assigned
11 11.00 C0011/0 Nmax
14 105.00 C0105/0 QSP Tif
16 70.00 C0070/0 Vp speed CTRL
17 71.00 C0071/0 Tn speed CTRL
18 1500.00 C1500/0
19 2100.00 C2100/0 Time slice
20 2102.00 C2102/0 Task switch
21 2104.00 C2104/0 PLC Autorun
22 0.00
23 2108.00 C2108/0 PLC run/stop
... ... ...
31 94.00 C0094/0 Password
32 3.00 C0003/0 Par save
C0540 Function 2 Digital frequency output DFOUT_IO_DigitalFrequency:
Function
X9 is inhibited if 0, 1, or 2 have been selected.
DFOUT_nIn_v = 0 if 4 or 5 have been selected.
The input signals are buffered electrically.
0 DFOUT_nOut_v as %
1 DFOUT_nOut_v as rpm
2 Incremental encoder simulation + zero pulse
C0545 PH offset 0 Digital frequency output DFOUT_IO_DigitalFrequency:
Phase offset of the zero pulse for incremental encoder
simulation (1 rev. = 65535 inc.)
0 {1 inc} 65535
C0547 DFOUT_nOut_v g Digital frequency output DFOUT_IO_DigitalFrequency:
DFOUT_nOut_v as analog value (if C0540 = 0)
−199.99 {0.01 %} 199.99
l 9300 Servo PLC EN 4.1 3−41

9300 Servo PLC
Appendix

Lenze Selection
C0549 DFOUT_nOut_v g Digital frequency output DFOUT_IO_DigitalFrequency:
DFOUT_nOut_v as speed value (if C0540 = 1)
−32767 {1 rpm} 32767
C0559 SD8 Filter t 1.00 Filter time constant (SD8)
1 {1 ms} 200 Example:
When the setting is "10 ms", an SD8 TRIP is initiated after
10 ms.
C0575 max fld weak 4.00 Factor for limiting the max. possible field weakening
Setting "4.00" means, for example, max. 400 % field
weakening possible.
1.00 {0.01} 8.00
C0576 nErr Window 100 Tolerance margin for speed monitoring
Referred to nmax.
100 % = lowest monitoring sensitivity.
0 {1 %} 100
C0577 Vp fld weak 3.00 Field weakening controller gain Vp
0.00 {0.01 ms} 15.99
C0578 Tn fld weak 10.0 Field weakening controller reset time Tn
2.0 {0.5 ms} 8192.0
C0579 MONIT nErr 3 Speed monitoring configuration
0 TRIP
1 Message
2 Warning
3 Off
4 FAIL−QSP
C0580 MONIT SD8 3 Monitoring configuration: Sin/cos encoder
0 TRIP Dependent on C0559
3 Off
C0581 MONIT Eer 0 Monitoring configuration: External error
0 TRIP
1 Message
2 Warning
3 Off
C0582 MONIT OH4 2 Monitoring configuration: Heatsink temperature
(Heatsink temperature > limit temperature C0122)
2 Warning
3 Off
C0583 MONIT OH3
Monitoring configuration: Motor temperature
(Motor temperature > fixed limit temperature)

Dependent on C0086
0 TRIP
3 Off
C0584 MONIT OH7
Monitoring configuration: Motor temperature
(Motor temperature > variable limit temperature C0121)

Dependent on C0086
Temperature monitoring via resolver input
2 Warning
3 Off
C0585 MONIT OH8 3 Monitoring configuration: Motor temperature
(Motor temperature across T1/T2 too high)
Temperature monitoring via PTC input
0 TRIP
2 Warning
3 Off
3−42 9300 Servo PLC EN 4.1 l

9300 Servo PLC
Appendix

Lenze Selection
C0586 MONIT SD2 0 Monitoring configuration: Resolver error
0 TRIP
2 Warning
3 Off
C0587 MONIT SD3 3 Monitoring configuration: Encoder error at X9/pin 8
0 TRIP
2 Warning
3 Off
C0588 MONIT H10/H11 3 Monitoring configuration: Temperature sensors
(Heatsink temperature/temperature inside the controller)
0 TRIP
2 Warning
3 Off
C0591 MONIT CE1 3 System bus: Monitoring configuration
CAN1_IN communication error (CE1)
0 TRIP
2 Warning
3 Off
0 TRIP
2 Warning
3 Off
0 TRIP
2 Warning
3 Off
C0594 MONIT SD6
Monitoring configuration: Motor temperature sensor error
(X7 or X8)

Dependent on C0086
0 TRIP
2 Warning
3 Off
"BusOffState" (CE4)
0 TRIP
2 Warning
3 Off
C0596 NMAX limit 5500 Monitoring configuration: Max. speed of the machine
0 {1 rpm} 16000
C0597 MONIT LP1 3 Configuration of motor phase monitoring (LP1)
0 TRIP Setting of the monitoring limit via C0599
2 Warning
3 Off
C0598 MONIT SD5 3 Monitoring configuration: Master current at X6/1, 2
(Master current < 2 mA)
0 TRIP
2 Warning
3 Off
C0599 Limit LP1 5 LP1 fault monitoring limit
0.01 {0.01 %} 10.00
l 9300 Servo PLC EN 4.1 3−43

9300 Servo PLC
Appendix

Lenze Selection
C0608 ovr Tx−Queue 0 System bus: Monitoring configuration
Free CAN objects: Tx buffer (transmission memory
overflow)
0 TRIP
1 Message
2 Warning
3 Off
4 FAIL−QSP
Time−out with remote parameter setting activated (C0370)
0 TRIP
2 Warning
3 Off
C0609 over Rx−lsr 0 System bus: Monitoring configuration
Free CAN objects: Too many telegrams received
0 TRIP
4 FAIL−QSP
C0855 DIS: IN (0−15) g Automation interface (AIF): Process data input words
0000 {hex} FFFF
1 Bit 00 AIF1_bInB0_b AIF1_IN: Process data input word 3
Bit 01 AIF1_bInB1_b
...
Bit 15 AIF1_bInB15_b
2 Bit 00 AIF1_bInB16_b AIF1_IN: Process data input word 4
...
C0856 DIS: IN.Wx g Automation interface (AIF): Process data input words
−32768 {1 %} 32767
1 AIF1_IN: Process data input word 2 (AIF1_nInW1_a)
C0857 DIS: IN.D1 g Automation interface (AIF): Process data input word
AIF1_dnInD1_p (32−bit phase information)
−2147483648 {1} 2147483647
C0858 DIS: OUT.Wx g Automation interface (AIF): Process data output words
−32768 {1 %} 32767
1 AIF1_OUT: Process data output word 2 (AIF1_nOutW1_a)
C0859 DIS: OUT.D1 g Automation interface (AIF): Process data output word
AIF1_dnOutD1_p (32−bit phase information)
−2147483648 {1} 2147483647
3−44 9300 Servo PLC EN 4.1 l

9300 Servo PLC
Appendix

Lenze Selection
C0863 DIS: INx dig x g System bus: Process data input words
0000 {hex} FFFF
1 Bit 00 CAN1_bInB0_b CAN1_IN: Process data input word 1
Bit 01 CAN1_bInB1_b
...
Bit 15 CAN1_bInB15_b
...
Bit 01 CAN2_bInB1_b
...
...
Bit 01 CAN3_bInB1_b
...
...
C0866 DIS: INx.Wx g System bus: Process data input words
−32768 {1 %} 32767
1 CAN1_nInW1_a
2 CAN1_nInW2_a
3 CAN1_nInW3_a
4 CAN2_nInW1_a
5 CAN2_nInW2_a
6 CAN2_nInW3_a
7 CAN2_nInW4_a
8 CAN3_nInW1_a
9 CAN3_nInW2_a
10 CAN3_nInW3_a
11 CAN3_nInW4_a
C0867 DIS: Inx.D1 g System bus: Process data input double words
−2147483648 {1} 2147483647
1 CAN1_IN: Process data input double word 1
(CAN1_dnInD1_p)
(CAN2_dnInD1_p)
(CAN3_dnInD1_p)
l 9300 Servo PLC EN 4.1 3−45

9300 Servo PLC
Appendix

Lenze Selection
C0868 DIS: OUTx.Wx g System bus: Process data output words
−32768 {1 %} 32767
1 CAN1_nOutW1_a
2 CAN1_nOutW2_a
3 CAN1_nOutW3_a
4 CAN2_nOutW1_a
5 CAN2_nOutW2_a
6 CAN2_nOutW3_a
7 CAN2_nOutW4_a
8 CAN3_nOutW1_a
9 CAN3_nOutW2_a
10 CAN3_nOutW3_a
11 CAN3_nOutW4_a
C0869 DIS: Out1/2.Dx g System bus: Process data output double words
−2147483648 {1} 2147483647
1 CAN1_OUT: Process data output double word 1
(CAN1_dnOutD1_p)
2 CAN2_OUT: Process data output double word 1
(CAN2_dnOutD1_p)
3 CAN3_OUT: Process data input double word 1
(CAN3_dnOutD1_p)
C0878 DigInOfDctrl g DCTRL_DriveControl: Digital inputs
0 1
1 DCTRL_bCInh1_b
2 DCTRL_bCInh1_b
3 DCTRL_bTripSet_b
4 DCTRL_bTripReset_b
C0879 Reset ctrl Reset of control words
C0879/x = 1 performs 1 reset.
0 Do not reset
1 Reset
1 C0135
2 AIF
3 CAN
C0906 DIS: analog g MCTRL_MotorControl: Analog input signals
−199.99 {0.01 %} 199.99
1 Speed setpoint (MCTRL_nNSet_a)
2 Torque setpoint (MCTRL_nMAdd_a)
3 Lower torque limit (MCTRL_nLoMLim_a)
4 Upper torque limit (MCTRL_nHiMLim_a)
5 Position controller limit (MCTRL_nPosLim_a)
6 Lower speed limit (MCTRL_nNStartMLim_a)
7 Field weakening (MCTRL_nFldWeak_a)
8 Integral action component of speed controller
(MCTRL_nISet_a)
9 Position controller adaptation (MCTRL_nPAdapt_a)
3−46 9300 Servo PLC EN 4.1 l

9300 Servo PLC
Appendix

Lenze Selection
C0907 DIS: digital g MCTRL_MotorControl: Digital input signals
0 1
1 Position control on/off (MCTRL_bPosOn_b)
2 Speed/torque control (MCTRL_bNMSwt_b)
3 Quick stop (MCTRL_bQspOut_b)
4 Load integral action component of speed controller
(MCTRL_bILoad_b)
C0908 DIS: PHI−SET g MCTRL_MotorControl: Position controller input
(MCTRL_dnPosSet_p)
1 rev. = 65536 inc.
−2147483648 {1 inc} 2147483647
C0909 speed limit 1 Speed setpoint limitation
1 −175 % ... +175 %
2 0 % ... +175 %
3 −175 % ... 0 %
C0910 TP delay 0 MCTRL_MotorControl: Touch probe delay
Compensation of delay times of the TP signal source at
X5/E4
−32767 {1 inc} 32767
C0911 MCTRL TP sel 0 MCTRL_MotorControl: Touch probe selection
C0912 MCTRL TP EDGE 0 MCTRL_MotorControl: Touch probe activation
For touch probe via digital input X5/E4 (C0911 = 1)
C1120 Sync mode 0 System bus: Sync source
0 Off
1 Synchronization via system bus (CAN)
2 Synchronization via terminal X3/I1
C1121 Sync cycle 2 System bus: Synchronisation cycle
Definition of the cycle time of the sync telegram/signal.
Parameterisation is only required for the slave!
1 {1 ms} 13
C1122 Sync phase 0.460 System bus: Synchronisation phase
Phase shift between the sync telegram/signal and the
start of the internal control program.
0 {0.001 ms} 6.5
C1123 Sync−window 0 System bus: Synchronisation window
If the sync telegram/signal sent from the master is
within the "time window",
CAN_bSyncInsideWindow_b = TRUE.
0 {0.001 ms} 6.5
C1190 Char.: temp 1 0 PTC: Type selection for motor
0 Lenze standard
1 User−specific
l 9300 Servo PLC EN 4.1 3−47

9300 Servo PLC
Appendix

Lenze Selection
C1191 Char.: temp PTC: Temperature characteristic selection
0 {1 °C} 255
1 100 Characteristic for temperature 1
2 150 Characteristic for temperature 2
C1192 Char.: OHM PTC: Resistance characteristic selection
0 {1 } 30000
1 1670 Characteristic for R1 at temperature 1
2 2225 Characteristic for R2 at temperature 2
C1799 DFOUT fmax 1250 DF_OUT_DigitalFrequency:
Maximum output frequency at X10
20 {1 kHz} 1250
C1810 S/W Id keypad g Keypad identification
C1811 S/W date keypad g Keypad creation date
C2100 Time slice 13 Time slice for task switch between system task and cyclic
task (PLC_PRG)
6 {1 ms} 26
C2102 Task switch 0 Configuration of task switch process
Activation after:
0 Time slice
1 Time slice + end PLC_PRG
2 Time slice + end PLC_PRG + end system task
C2104 PLC Autorun 0 Automatic start of the PLC Program after power−on
0 No auto start
1 Auto start after power−on
C2106 Downl.protect 0 Write protection for the PLC program
0 New download possible
1 No new download possible
C2107 PwDownlProt. 0 Password for download write protection (C2106)
0 {1} 4294967295
C2108 PLC run/stop 0 PLC program
0 No function
1 PLC run Start
2 PLC stop Stop
3 PLC reset Reset
C2111 GDC Id g 27012006132510 = Compilation time/date of PLC program
Date (day.month.year): 27.01.2006
Time (hour:min.:sec.): 13:25:10
C2113 PLC Prog Name g Name of the PLC program
C2115 T−Fct credit g Number of technology units
C2116 CreditPinCode 0 Pin code for technology unit activation in the event of
servicing (contact Lenze)
0 {1} 4294967295
C2117 Full credit g Service code
C2118 ParWriteChan. 0 CAN object for L_ParRead and L_ParWrite
0 PDO channel (CAN1_IO ... CAN3_IO)
1 SDO2 channel
3−48 9300 Servo PLC EN 4.1 l

9300 Servo PLC
Appendix

Lenze Selection
C2120 AIF: Control 0 AIF−CAN: Control word
0 [1] 255 Note: The state of the MSB (bit 7) of the control word
Decimal value is bit−coded: automatically changes with each access to the code. Please
0 No command take this into account when interpreting the data!
1 Read XCAN code + new initialization
2 Read XCAN code
10 Read XCAN C2356/1 ... 4
11 Read XCAN C2357
12 Read XCAN C2375
13 Read XCAN C2376 ... C2378
14 Read XCAN C2382
255 Not assigned
C2121 AIF: state g AIF−CAN: Status
Detailed information can be found in the documentation
for the corresponding fieldbus module.
0 {dec} 255
Bit 3 XCAN bus off
Bit 4 XCAN operational
Bit 5 XCAN pre−operational
Bit 6 XCAN warning
Bit 7 Internally assigned
C2130 FileNameAddDa g Symbolic name of data Information about the additional data that was transferred
to the PLC together with the PLC program.
C2131 Type AddData g Data specification identifier
More detailed information can be found in chapter
C2132 VersionAddData g Data version 3.3.3, "Downloading data". ^ 3−7
C2133 TimeStamp g Time stamp of data
C2350 XCAN Address 1 AIF−CAN: Node address
1 {1} 63
C2351 XCAN baudrate 0 AIF−CAN: Baud rate
0 500 kbit/s
1 250 kbit/s
2 125 kbit/s
3 50 kbit/s
4 1000 kbit/s
5 20 kbit/s
6 10 kbit/s
C2352 CAN mst 0 AIF−CAN: Set−up quasi master
Controller sends system bus boot−up and is thus the
"quasi" master
0 Boot−up not active
1 Boot−up active
C2353 CAN addr sel1 AIF−CAN: Source for PDO identifiers
0 Identifier assignment via C2350 + basic identifier
1 Identifier assignment via C2354/x
1 0 XCAN1_IN/OUT
2 0 XCAN2_IN/OUT
3 0 XCAN3_IN/OUT
l 9300 Servo PLC EN 4.1 3−49

9300 Servo PLC
Appendix

Lenze Selection
C2354 XCAN sel.addr AIF−CAN: Definition of individual PDO identifiers
Value to be entered = Identifier − 384
0 {1} 1663
1 129 XCAN1_IN
2 1 XCAN1_OUT
3 257 XCAN2_IN
4 258 XCAN2_OUT
5 385 XCAN3_IN
6 386 XCAN3_OUT
C2355 XCAN Id g AIF−CAN: System bus identifiers for the PDOs
384 {1} 2047
1 XCAN1_IN
2 XCAN1_OUT
3 XCAN2_IN
4 XCAN2_OUT
5 XCAN3_IN
6 XCAN3_OUT
C2356 CAN boot up AIF−CAN: Time settings
0 {1 ms} 65000 Delay time after power−on for initialisation through the
quasi" master
1 3000
0 {1 ms} 65000 Cycle time for transmitting the process data object
0 = Event−controlled transmission
2 0 XCAN1_OUT
3 0 XCAN2_OUT
4 0 XCAN3_OUT
5 0 XCAN Sync Tx cycle time
C2357 CExmonit time AIF−CAN: Monitoring time for process data input objects
0 {1 ms} 65000
1 3000 XCAN1_IN
2 3000 XCAN2_IN
3 3000 XCAN3_IN
4 1 Bus off
C2359 AIF HW Set. g AIF module DIP switch settings
0 {1} 65535
C2367 Sync Rx Id 128 AIF−CAN: Sync Rx identifier
Receive identifier for the sync telegram
1 {1} 256
C2368 Sync Tx Id 128 AIF−CAN: Sync Tx identifier
Transmit identifier for the sync telegram
1 {1} 256
C2373 Sync Rate IN AIF−CAN: Sync counter
1 {1} 240
1 1 XCAN1_IN
2 1 XCAN2_IN
3 1 XCAN3_IN
C2374 Sync RATE OUT AIF−CAN: Sync counter
1 {1} 240
1 1 XCAN1_OUT
2 1 XCAN2_OUT
3 1 XCAN3_OUT
3−50 9300 Servo PLC EN 4.1 l

9300 Servo PLC
Appendix

Lenze Selection
C2375 XCAN Tx−Mode AIF−CAN: TX mode for XCANx_OUT
Selection of cycle time under C2356
0 Sync with response
1 Sync without response
2 Event−controlled (with mask)/cyclically
3 Event−controlled (with mask)
with cyclic overlay
1 0 XCAN1_OUT
2 0 XCAN2_OUT
3 0 XCAN3_OUT
C2376 XCAN1 Mask AIF−CAN: XCAN1_OUT mask
0 {hex} FFFF
1 FFFF Mask for process data output word 1
0 {hex} FFFF
0 {hex} FFFF
C2382 XCAN Conf. CE AIF−CAN: Monitoring configuration
0 Off
1 Controller inhibit
2 QSP
1 0 XCAN1_IN (no telegrams received)
4 0 Bus off
5 0 Life guarding event
C2500 Temporary codes (see chapter 3.6.1)
0 {1} 65535
1 0 %MW 0
... ... ...
255 0 %MW 254
C2501 Temporary codes (see chapter 3.6.1)
0 {1} 65535
1 0 %MW 255
... ... ...
255 0 %MW 509
l 9300 Servo PLC EN 4.1 3−51

9300 Servo PLC
Appendix
3.6.1 Temporary codes

Codes C2500 and C2501 are temporary codes, i.e. the data
does not occupy any EEPROM memory space.
cannot be saved in the parameter set of the unit using C0003 = 1.
will be lost after mains disconnection or power failure.
is fixedly linked with the PLC flag area.
Temporary codes should be used for parameters which are only accessed during a switch−on
cycle of the PLC.
The temporary codes can also be used to directly access the flag area of the PLC (e.g via
HMI) without having to create a variable.
3.6.2 RAM access via codes

If you want to access the RAM of the PLC from external controls or PC tools, for instance, for
manipulating motion profile data online, you can use the following codes:
65535
RAM
block 1
Write protection
C0504/1
4 bytes
RAM block selection

Offset
C0506
C0505
read C0507 4 bytes 1
0
65535
write C0508 4 bytes 2 RAM
block 2
Write protection
C0504/2
4 bytes
Offset
C0505
Fig. 3−1 Codes for RAM access
3−52 9300 Servo PLC EN 4.1 l

9300 Servo PLC
Appendix
Parameters
Code Data type Access Info
Subcode Possible settings Presetting
C0504 − R/W Activate/deactivate write protection for RAM
When the write protection is activated, the RAM cannot be written to via
LenzeMemDrv.lib codes or functions.
1 0 Deactivate write protection for RAM block 1 0
1 Activate write protection for RAM block 1
2 0 Deactivate write protection for RAM block 2 0
1 Activate write protection for RAM block 2
C0505 − W Offset address within the RAM block selected under C0506
0 {1} 65532 0
C0506 − W Selection of the RAM block for access via C0508/C0509
1 RAM block 1
2 RAM block 2
C0507 Double integer R Value read from the RAM block
After the RAM block has been read, the pointer to the memory address is
automatically incremented by 4 bytes.
C0508 Double integer W Value to be written in the RAM block
After the RAM block has been written to, the pointer to the memory address is
automatically incremented by 4 bytes.
C0509 − R/W Check sum test
0 Deactivated 0
1 Activated
Note!
The RAM access is processed in parallel with the PLC program in the system task. The
processing time therefore depends on the workload of the system.
You can use the functions of the LenzeMemDrv.lib function library to access the RAM from
your IEC 61131 program.
l 9300 Servo PLC EN 4.1 3−53

9300 Servo PLC
Appendix
Auto−increment access
The four data bytes are always read/written through "auto−increment access", i.e. the pointer to the
address in the selected RAM block is automatically incremented by four bytes after reading code
C0507 or writing to code C0508:
1. 2. 3.
RAM 4 bytes
65532
4 bytes
65532
4 bytes
65532
block
4 bytes 4 bytes 4 bytes auto-increment

(+4 bytes)
4 bytes 4 bytes auto-increment 4 bytes
(+4 bytes)
4 bytes auto-increment 4 bytes 4 bytes
(+4 bytes)
Offset Offset Offset

C0505 C0505 C0505
0 0 0
C0507 C0507 C0507

4 bytes 4 bytes 4 bytes
Fig. 3−2 Example: Reading successive double integer values from the RAM block through auto−increment access
3−54 9300 Servo PLC EN 4.1 l

9300 Servo PLC
Appendix
3.7 Attribute table

If you want to create your own programs, you will need the information given in the attribute table.
This table contains all the information required for communicating to the PLC via parameters.
How to read the attribute table:
Column Meaning Entry

Code Designation of the Lenze code Cxxxx
Index dec Index used to address the parameter. 24575 − Lenze code number Only required for control via INTERBUS−S, PROFIBUS−DP or
The subindex of an array variable system bus (CAN).
hex corresponds to the Lenze subcode 5FFFh − Lenze code number
number
Data DS Data structure E Single variable (only one parameter element)
A Array variable (several parameter elements)
DA Number of array elements (subcodes)
DT Data type B8 1 byte, bit−coded
B16 2 bytes, bit−coded
B32 4 bytes, bit−coded
FIX32 32−bit value with sign; decimal with 4 decimal positions
I32 4 bytes with sign
U16 2 bytes without sign
U32 4 bytes without sign
VS ASCII string
Format LECOM format VD ASCII decimal format
(see also Operating Instructions for VH ASCII hexadecimal format
fieldbus module 2102)
VS String format
VO Octet string format for data blocks
DL Data length in bytes
Decimal Number of decimal positions
position
Access LCM−R/W Access authorisation for LECOM Ra Reading is always permitted.
Wa Writing is always permitted.
W Writing is attached to a condition.
Condition Condition for writing CINH Writing is only permitted if the controller is inhibited (CINH). 1)
PLC Stop Writing is only permitted if the PLC program is stopped.
1) Only with 9300 Servo PLC
ÑÑÑÑ
ÑÑÑÑÑÑÑ
ÑÑÑÑÑÑÑÑÑÑÑÑÑÑÑÑÑÑ ÑÑÑÑÑÑÑ
ÑÑÑÑ
ÑÑÑÑÑÑÑ
ÑÑÑÑ
ÑÑÑÑ
Code
ÑÑÑÑÑÑÑÑÑÑÑÑÑÑÑÑÑÑ
ÑÑÑÑ
ÑÑÑÑÑÑÑÑ
ÑÑÑ
ÑÑÑÑÑÑÑÑ
ÑÑÑÑÑÑÑ
ÑÑÑÑ
Index
ÑÑÑÑ Data Access
ÑÑÑÑ
ÑÑÑÑ
ÑÑÑÑ
ÑÑÑÑ
ÑÑÑÑÑÑÑÑ
ÑÑÑ
ÑÑÑÑ
dec
ÑÑÑÑ
ÑÑÑÑ
ÑÑÑÑ
hex DS DA DT Format DL Decimal LCM−R/W Condition
ÑÑÑÑ
ÑÑÑÑ
ÑÑÑÑ
ÑÑÑÑÑÑÑÑ
ÑÑÑÑ
ÑÑÑÑÑÑÑ
ÑÑÑÑ
ÑÑÑÑ
ÑÑÑÑ
position
ÑÑÑÑ
C0002 24573 5FFDh E 1 FIX32 VD 4 0 Ra/W CINH +
PLC stop
C0003 24572
ÑÑÑÑ 5FFCh E 1 FIX32 VD 4 0 Ra/Wa
ÑÑÑÑ
C0004 24571 5FFBh E 1 FIX32 VD 4 0 Ra/Wa
ÑÑÑÑ
C0006 24569 5FF9h E 1 FIX32 VD 4 0 Ra/W CINH
C0009 24566 5FF6h E 1 FIX32 VD 4 0 Ra/Wa
C0011 24564
ÑÑÑÑ 5FF4h E 1 FIX32 VD 4 0 Ra/Wa
ÑÑÑÑ
C0017 24558 5FEEh E 1 FIX32 VD 4 0 Ra/Wa
ÑÑÑÑ
C0018 24557 5FEDh E 1 FIX32 VD 4 0 Ra/Wa
ÑÑÑÑ
C0019 24556 5FECh E 1 FIX32 VD 4 0 Ra/Wa
C0022 24553 5FE9h E 1 FIX32 VD 4 2 Ra/Wa
C0025 24550
ÑÑÑÑ 5FE6h E 1 FIX32 VD 4 0 Ra/W CINH
ÑÑÑÑ
C0026 24549 5FE5h A 2 FIX32 VD 4 2 Ra/Wa
C0027 24548 5FE4h A 2 FIX32 VD 4 2 Ra/Wa
l 9300 Servo PLC EN 4.1 3−55

9300 Servo PLC
Appendix
ÑÑÑÑ
ÑÑÑÑÑÑÑÑÑÑÑÑÑÑÑÑÑÑÑÑÑÑÑÑÑÑ ÑÑÑÑÑÑÑ
ÑÑÑÑÑÑÑ
ÑÑÑÑ
ÑÑÑÑ
Code
ÑÑÑÑÑÑÑÑÑÑÑÑÑÑÑÑÑÑÑ
ÑÑÑÑ
ÑÑÑÑ
ÑÑÑÑ
ÑÑÑÑÑÑÑÑ
Index
ÑÑÑÑ ÑÑÑÑÑÑÑ
ÑÑÑÑ
ÑÑÑ
ÑÑÑÑÑ Data Access
ÑÑÑÑ
ÑÑÑÑÑÑÑÑ
ÑÑÑÑ
ÑÑÑÑ ÑÑÑÑÑÑÑÑ
ÑÑÑÑÑÑÑÑ ÑÑÑ
ÑÑÑÑÑ
dec hex DS DA DT Format DL Decimal LCM−R/W Condition
ÑÑÑÑ
position
C0030 24545 5FE1h E 1 FIX32 VD 4 0 Ra/Wa
C0032 24543
ÑÑÑÑ
5FDFh E 1 FIX32 VD 4 0 Ra/Wa
ÑÑÑÑ
C0034 24541 5FDDh E 1 FIX32 VD 4 0 Ra/Wa
ÑÑÑÑ
C0037 24538 5FDAh E 1 FIX32 VD 4 0 Ra/Wa
C0040 24535 5FD7h E 1 FIX32 VD 4 0 Ra/Wa
C0042 24533
ÑÑÑÑ
5FD5h E 1 FIX32 VD 4 0 Ra
ÑÑÑÑ
C0043 24532 5FD4h E 1 FIX32 VD 4 0 Ra/Wa
ÑÑÑÑ
C0050 24525 5FCDh E 1 FIX32 VD 4 2 Ra
ÑÑÑÑ
C0051 24524 5FCCh E 1 FIX32 VD 4 0 Ra
C0052 24523 5FCBh E 1 FIX32 VD 4 0 Ra
C0053
C0054
24522
24521 ÑÑÑÑ
5FCAh
ÑÑÑÑ
5FC9h
E
E
1
1
FIX32
FIX32
VD
VD
4
4
0
1
Ra
Ra
ÑÑÑÑ
C0056 24519 5FC7h E 1 FIX32 VD 4 0 Ra
C0057 24518 5FC6h E 1 FIX32 VD 4 1 Ra
C0058 24517
ÑÑÑÑ
5FC5h E 1 FIX32 VD 4 1 Ra/Wa
C0059
C0060
24516
24515 ÑÑÑÑ
5FC4h
ÑÑÑÑ
5FC3h
E
E
1
1
FIX32
FIX32
VD
VD
4
4
0
0
Ra
Ra
ÑÑÑÑ
C0061 24514 5FC2h E 1 FIX32 VD 4 0 Ra
C0063 24512 5FC0h E 1 FIX32 VD 4 0 Ra
C0064 24511
ÑÑÑÑ
5FBFh E 1 FIX32 VD 4 0 Ra
ÑÑÑÑ
C0067 24508 5FBCh E 1 FIX32 VD 4 0 Ra
ÑÑÑÑ
C0070 24505 5FB9h E 1 FIX32 VD 4 1 Ra/Wa
C0071 24504 5FB8h E 1 FIX32 VD 4 1 Ra/Wa
C0072 24503
ÑÑÑÑ
5FB7h E 1 FIX32 VD 4 1 Ra/Wa
C0075 24500
ÑÑÑÑ
5FB4h E 1 FIX32 VD 4 2 Ra/Wa
ÑÑÑÑ
C0076 24499 5FB3h E 1 FIX32 VD 4 1 Ra/Wa
ÑÑÑÑ
C0077 24498 5FB2h E 1 FIX32 VD 4 2 Ra/Wa
C0078 24497 5FB1h E 1 FIX32 VD 4 1 Ra/Wa
C0081 24494
ÑÑÑÑ
5FAEh E 1 FIX32 VD 4 2 Ra/W CINH
ÑÑÑÑ
C0084 24491 5FABh E 1 FIX32 VD 4 2 Ra/W CINH
ÑÑÑÑ
C0085 24490 5FAAh E 1 FIX32 VD 4 2 Ra/W CINH
ÑÑÑÑ
C0086 24489 5FA9h E 1 FIX32 VD 4 0 Ra/W CINH
C0088 24487
ÑÑÑÑ
5FA7h E 1 FIX32 VD 4 1 Ra/W CINH
ÑÑÑÑ
ÑÑÑÑ
C0093 24482
ÑÑÑÑ
5FA2h E 1 FIX32 VD 4 0 Ra
ÑÑÑÑ
C0094 24481 5FA1h E 1 FIX32 VD 4 0 Ra/Wa
ÑÑÑÑ
ÑÑÑÑ
C0096 24479 5F9Fh A 2 FIX32 VD 4 0 Ra/Wa
C0099 24476 5F9Ch E 1 FIX32 VD 4 1 Ra
C0105 24470
ÑÑÑÑ
5F96h E 1 FIX32 VD 4 3 Ra/Wa
ÑÑÑÑ
C0108 24467 5F93h A 2 FIX32 VD 4 2 Ra/Wa
ÑÑÑÑ
C0109 24466 5F92h A 2 FIX32 VD 4 2 Ra/Wa
C0114 24461 5F8Dh A 5 FIX32 VD 4 0 Ra/Wa
C0118 24457
ÑÑÑÑ
5F89h A 4 FIX32 VD 4 0 Ra/Wa
ÑÑÑÑ
C0121 24454 5F86h E 1 FIX32 VD 4 0 Ra/Wa
ÑÑÑÑ
C0122 24453 5F85h E 1 FIX32 VD 4 0 Ra/Wa
ÑÑÑÑ
C0125 24450 5F82h E 1 FIX32 VD 4 0 Ra/Wa
C0126 24449 5F81h E 1 FIX32 VD 4 0 Ra/Wa
3−56 9300 Servo PLC EN 4.1 l

9300 Servo PLC
Appendix
ÑÑÑÑÑÑÑÑÑÑÑ
ÑÑÑÑ
Code
ÑÑÑÑ
ÑÑÑÑ
ÑÑÑÑÑÑÑÑ
ÑÑÑ
Index
ÑÑÑÑ
ÑÑÑÑ
ÑÑÑÑÑÑÑÑ
ÑÑÑÑ
ÑÑÑÑ ÑÑÑÑÑÑÑÑÑÑÑ
ÑÑÑÑÑÑÑÑ ÑÑÑÑ
ÑÑÑÑ
ÑÑÑÑ
position
C0135 24440 5F78h E 1 B16 VH 2 0 Ra/Wa
C0136 24439
ÑÑÑÑ
5F77h A 3 B16 VH 2 0 Ra
ÑÑÑÑ
C0141 24434 5F72h E 1 FIX32 VD 4 2 Ra/Wa
ÑÑÑÑ
C0142 24433 5F71h E 1 FIX32 VD 4 0 Ra/Wa
C0150 24425 5F69h E 1 B16 VH 2 0 Ra
C0151 24424
ÑÑÑÑ
5F68h E 1 B32 VH 4 0 Ra
ÑÑÑÑ
C0155 24420 5F64h E 1 B16 VH 2 0 Ra
ÑÑÑÑ
C0157 24418 5F62h A 7 FIX32 VD 4 0 Ra
ÑÑÑÑ
C0161 24414 5F5Eh E 1 FIX32 VD 4 0 Ra
C0167 24408 5F58h E 1 FIX32 VD 4 0 Ra/Wa
C0168
C0169
24407
24406 ÑÑÑÑ
5F57h
ÑÑÑÑ
5F56h
A
A
8
8
FIX32
U32
VD
VH
4
4
0
0
Ra
Ra
ÑÑÑÑ
C0170 24405 5F55h A 8 FIX32 VD 4 0 Ra
C0172 24403 5F53h E 1 FIX32 VD 4 0 Ra/Wa
C0173 24402
ÑÑÑÑ
C0178
C0179
24397
24396 ÑÑÑÑ
5F4Dh
ÑÑÑÑ
5F4Ch
E
E
1
1
U32
U32
VH
VH
4
4
0
0
Ra
Ra
ÑÑÑÑ
C0183 24392 5F48h E 1 FIX32 VD 4 0 Ra
C0199 24376 5F38h E 1 FIX32 VD 4 0 Ra
C0200 24375
ÑÑÑÑ
5F37h E 1 VS VS 14 0 Ra
ÑÑÑÑ
C0201 24374 5F36h E 1 VS VS 20 0 Ra
ÑÑÑÑ
C0202 24373 5F35h E 1 FIX32 VD 4 0 Ra
C0203 24372 5F34h E 1 VS VS 12 0 Ra
C0204 24371
ÑÑÑÑ
5F33h E 1 FIX32 VD 4 0 Ra
C0206 24369
ÑÑÑÑ
5F31h E 1 VS VS 13 0 Ra
ÑÑÑÑ
C0207 24368 5F30h E 1 VS VS 14 0 Ra
ÑÑÑÑ
C0208 24367 5F2Fh E 1 VS VS 14 0 Ra
C0209 24366 5F2Eh E 1 VS VS 14 0 Ra
C0250 24325
ÑÑÑÑ
ÑÑÑÑ
C0254 24321 5F01h E 1 FIX32 VD 4 4 Ra/Wa
ÑÑÑÑ
C0300 24275 5ED3h E 1 FIX32 VD 4 0 Ra
ÑÑÑÑ
C0301 24274 5ED2h E 1 FIX32 VD 4 0 Ra
C0302 24273 5ED1h E 1 U32 VH 4 0 Ra
C0350 24225
ÑÑÑÑ
5EA1h E 1 FIX32 VD 4 0 Ra/Wa
ÑÑÑÑ
C0351 24224 5EA0h E 1 FIX32 VD 4 0 Ra/Wa
ÑÑÑÑ
C0352 24223 5E9Fh E 1 FIX32 VD 4 0 Ra/Wa
C0353 24222 5E9Eh A 3 FIX32 VD 4 0 Ra/Wa
C0354 24221
ÑÑÑÑ
5E9Dh A 6 FIX32 VD 4 0 Ra/Wa
ÑÑÑÑ
C0355 24220 5E9Ch A 6 FIX32 VD 4 0 Ra
ÑÑÑÑ
C0356 24219 5E9Bh A 4 FIX32 VD 4 0 Ra/Wa
ÑÑÑÑ
C0357 24218 5E9Ah A 3 FIX32 VD 4 0 Ra/Wa
C0358 24217 5E99h E 1 FIX32 VD 4 0 Ra/Wa
C0359 24216
ÑÑÑÑ
5E98h E 1 FIX32 VD 4 0 Ra
ÑÑÑÑ
C0360 24215 5E97h A 12 FIX32 VD 4 0 Ra
ÑÑÑÑ
C0361 24214 5E96h A 12 FIX32 VD 4 2 Ra
C0362 24213 5E95h E 1 FIX32 VD 4 3 Ra
C0363 24212
ÑÑÑÑ
5E94h E 1 FIX32 VD 4 0 Ra/Wa
ÑÑÑÑ
C0365 24210 5E92h E 1 FIX32 VD 4 0 Ra
ÑÑÑÑ
C0366 24209 5E91h E 1 FIX32 VD 4 0 Ra/Wa
ÑÑÑÑ
C0367 24208 5E90h E 1 FIX32 VD 4 0 Ra/Wa
C0368 24207 5E8Fh E 1 FIX32 VD 4 0 Ra/Wa
l 9300 Servo PLC EN 4.1 3−57

9300 Servo PLC
Appendix
ÑÑÑÑ
ÑÑÑÑÑÑÑ
ÑÑÑÑ
ÑÑÑÑ
Code
ÑÑÑÑ
ÑÑÑÑ
ÑÑÑÑ
ÑÑÑÑÑÑÑÑ
Index
ÑÑÑÑ
ÑÑÑ
ÑÑÑÑ
ÑÑÑÑÑÑÑÑ
ÑÑÑÑ
ÑÑÑÑÑ
ÑÑÑÑ
position
C0369 24206 5E8Eh E 1 FIX32 VD 4 0 Ra/Wa
C0400 24175
ÑÑÑÑ
5E6Fh E 1 FIX32 VD 4 2 Ra
ÑÑÑÑ
C0405 24170 5E6Ah E 1 FIX32 VD 4 2 Ra
ÑÑÑÑ
C0416 24159 5E5Fh E 1 U32 VH 4 0 Ra/W CINH
C0420 24155 5E5Bh E 1 FIX32 VD 4 0 Ra/W CINH
C0421 24154
ÑÑÑÑ
5E5Ah E 1 FIX32 VD 4 1 Ra/W CINH
ÑÑÑÑ
C0425 24150 5E56h E 1 FIX32 VD 4 0 Ra/Wa
ÑÑÑÑ
C0426 24149 5E55h E 1 FIX32 VD 4 0 Ra
ÑÑÑÑ
C0427 24148 5E54h E 1 FIX32 VD 4 0 Ra/Wa
C0428 24147 5E53h E 1 FIX32 VD 4 0 Ra/Wa
C0429
C0431
24146
24144 ÑÑÑÑ
5E52h
ÑÑÑÑ
5E50h
E
E
1
1
FIX32
FIX32
VD
VD
4
4
0
0
Ra/Wa
Ra/Wa
ÑÑÑÑ
C0434 24141 5E4Dh A 3 FIX32 VD 4 2 Ra
C0439 24136 5E48h A 3 FIX32 VD 4 2 Ra
C0441 24134
ÑÑÑÑ
5E46h E 1 FIX32 VD 4 0 Ra
C0443
C0444
24132
24131 ÑÑÑÑ
5E44h
ÑÑÑÑ
5E43h
E
A
1
4
B8
FIX32
VH
VD
1
4
0
0
Ra
Ra
ÑÑÑÑ
C0469 24106 5E2Ah E 1 FIX32 VD 4 0 Ra/W CINH
C0470 24105 5E29h A 4 B8 VH 1 0 Ra/Wa
C0471 24104
ÑÑÑÑ
5E28h E 1 B32 VH 4 0 Ra/Wa
ÑÑÑÑ
C0472 24103 5E27h A 20 FIX32 VD 4 2 Ra/Wa
ÑÑÑÑ
C0473 24102 5E26h A 10 FIX32 VD 4 0 Ra/Wa
C0474 24101 5E25h A 5 I32 VH 4 0 Ra/Wa
C0475 24100
ÑÑÑÑ
5E24h A 2 FIX32 VD 4 0 Ra/Wa
C0490 24085
ÑÑÑÑ
5E15h E 1 FIX32 VD 4 0 Ra/W CINH
ÑÑÑÑ
ÑÑÑÑÑÑÑÑ
ÑÑÑÑ
ÑÑÑÑ
ÑÑÑÑÑÑÑÑ
ÑÑÑÑÑÑÑÑ
ÑÑÑ
ÑÑÑÑÑ
C0495 24080 5E10h E 1 FIX32 VD 4 0 Ra/W CINH
ÑÑÑÑ
ÑÑÑÑÑÑÑÑ
ÑÑÑÑ
ÑÑÑÑ
ÑÑÑÑÑÑÑÑ
ÑÑÑÑÑÑÑÑ
ÑÑÑ
ÑÑÑÑÑ
C0497 24078 5E0Eh E 1 FIX32 VD 4 1 Ra/Wa
C0504 24071 5E07h A 2 FIX32 VD 4 0 Ra/Wa
ÑÑÑÑ
ÑÑÑÑÑÑÑÑ
C0505
ÑÑÑÑ
ÑÑÑÑ
24070
ÑÑÑÑÑÑÑÑ
ÑÑÑÑÑÑÑÑ
ÑÑÑ
5E06h
ÑÑÑÑÑ
E 1 FIX32 VD 4 0 Ra/Wa
ÑÑÑÑ
ÑÑÑÑÑÑÑÑ
ÑÑÑÑ
ÑÑÑÑ
ÑÑÑÑÑÑÑÑ
ÑÑÑÑÑÑÑÑ
ÑÑÑ
ÑÑÑÑÑ
C0506 24069 5E05h E 1 FIX32 VD 4 0 Ra/Wa
ÑÑÑÑ
ÑÑÑÑÑÑÑÑ
ÑÑÑÑ
ÑÑÑÑ
ÑÑÑÑÑÑÑÑ
ÑÑÑÑÑÑÑÑ
ÑÑÑ
ÑÑÑÑÑ
C0507 24068 5E04h E 1 FIX32 VD 4 0 Ra
ÑÑÑÑ
ÑÑÑÑÑÑÑÑ
ÑÑÑÑ
ÑÑÑÑ
ÑÑÑÑÑÑÑÑ
ÑÑÑÑÑÑÑÑ
ÑÑÑ
ÑÑÑÑÑ
C0508 24067 5E03h E 1 FIX32 VD 4 0 Ra/Wa
C0509 24066 5E02h E 1 FIX32 VD 4 0 Ra/Wa
ÑÑÑÑ
ÑÑÑÑÑÑÑÑ
C0510
C0517 ÑÑÑÑ
ÑÑÑÑ
24065
24058 ÑÑÑÑÑÑÑÑ
5E01h
ÑÑÑÑ
5DFAh ÑÑÑÑÑ
E
A
1
32
FIX32
FIX32
VD
VD
4
4
0
2
Ra/Wa
Ra/Wa
ÑÑÑÑ
C0540 24035 5DE3h E 1 FIX32 VD 4 0 Ra/Wa
C0545 24030 5DDEh E 1 FIX32 VD 4 0 Ra/Wa
C0547 24028
ÑÑÑÑ
5DDCh E 1 FIX32 VD 4 2 Ra
ÑÑÑÑ
ÑÑÑÑÑÑÑÑ
ÑÑÑÑ
ÑÑÑÑ
ÑÑÑÑÑÑÑÑ
ÑÑÑÑÑÑÑÑ
ÑÑÑ
ÑÑÑÑÑ
C0549 24026 5DDAh E 1 FIX32 VD 4 0 Ra
ÑÑÑÑ
C0559 24016 5DD0h E 1 FIX32 VD 4 0 Ra/Wa
ÑÑÑÑ
C0577 23998 5DBEh E 1 FIX32 VD 4 2 Ra/Wa
C0578 23997 5DBDh E 1 FIX32 VD 4 1 Ra/Wa
C0580 23995
ÑÑÑÑ
5DBBh E 1 FIX32 VD 4 0 Ra/Wa
ÑÑÑÑ
C0581 23994 5DBAh E 1 FIX32 VD 4 0 Ra/Wa
ÑÑÑÑ
C0582 23993 5DB9h E 1 FIX32 VD 4 0 Ra/Wa
C0583 23992 5DB8h E 1 FIX32 VD 4 0 Ra/Wa
C0584 23991
ÑÑÑÑ
5DB7h E 1 FIX32 VD 4 0 Ra/Wa
ÑÑÑÑ
C0585 23990 5DB6h E 1 FIX32 VD 4 0 Ra/Wa
ÑÑÑÑ
C0586 23989 5DB5h E 1 FIX32 VD 4 0 Ra/Wa
ÑÑÑÑ
C0587 23988 5DB4h E 1 FIX32 VD 4 0 Ra/Wa
C0588 23987 5DB3h E 1 FIX32 VD 4 0 Ra/Wa
3−58 9300 Servo PLC EN 4.1 l

9300 Servo PLC
Appendix
ÑÑÑÑ
Code
ÑÑÑÑ
ÑÑÑÑ
ÑÑÑÑÑÑÑÑ
ÑÑÑ
Index
ÑÑÑÑ
ÑÑÑÑ
ÑÑÑÑÑÑÑÑ
ÑÑÑÑ
ÑÑÑÑ ÑÑÑÑÑÑÑÑÑÑÑ
ÑÑÑÑÑÑÑÑ ÑÑÑÑ
ÑÑÑÑ
ÑÑÑÑ
position
C0591 23984 5DB0h E 1 FIX32 VD 4 0 Ra/Wa
C0592 23983
ÑÑÑÑ
5DAFh E 1 FIX32 VD 4 0 Ra/Wa
ÑÑÑÑ
C0593 23982 5DAEh E 1 FIX32 VD 4 0 Ra/Wa
ÑÑÑÑ
C0594 23981 5DADh E 1 FIX32 VD 4 0 Ra/Wa
C0595 23980 5DACh E 1 FIX32 VD 4 0 Ra/Wa
ÑÑÑÑÑÑÑÑ
C0596
ÑÑÑÑ
ÑÑÑÑ
ÑÑÑÑÑÑÑÑ
23979
5DABh
ÑÑÑÑ
ÑÑÑÑ
E 1 FIX32 VD 4 0 Ra/Wa
ÑÑÑÑÑÑÑÑ
ÑÑÑÑ
ÑÑÑÑ
ÑÑÑÑÑÑÑÑ
ÑÑÑÑ
ÑÑÑÑ
C0597 23978 5DAAh E 1 FIX32 VD 4 0 Ra/Wa
ÑÑÑÑÑÑÑÑ
ÑÑÑÑ
ÑÑÑÑ
ÑÑÑÑÑÑÑÑ
ÑÑÑÑ
ÑÑÑÑ
C0598 23977 5DA9h E 1 FIX32 VD 4 0 Ra/Wa
ÑÑÑÑ
C0599 23976 5DA8h E 1 FIX32 VD 4 1 Ra/Wa
C0608 23963 5D9Bh E 1 FIX32 VD 4 0 Ra/Wa
C0609
C0855
23962
23720 ÑÑÑÑ
5D9Ah
ÑÑÑÑ
5CA8h
E
A
1
2
FIX32
B16
VD
VH
4
2
0
0
Ra/Wa
Ra
ÑÑÑÑ
C0856 23719 5CA7h A 3 I32 VH 4 2 Ra
C0857 23718 5CA6h E 1 I32 VH 4 0 Ra
C0858 23717
ÑÑÑÑ
5CA5h A 3 I32 VH 4 2 Ra
C0859
C0863
23716
23712 ÑÑÑÑ
5CA4h
ÑÑÑÑ
5CA0h
E
A
1
6
I32
B16
VH
VH
4
2
0
0
Ra
Ra
ÑÑÑÑ
C0866 23709 5C9Dh A 11 FIX32 VD 4 2 Ra
C0867 23708 5C9Ch A 3 I32 VH 4 0 Ra
C0868 23707
ÑÑÑÑ
5C9Bh A 11 FIX32 VD 4 2 Ra
ÑÑÑÑ
C0869 23706 5C9Ah A 3 I32 VH 4 0 Ra
ÑÑÑÑ
C0878 23697 5C91h A 4 FIX32 VD 4 0 Ra
C0879 23696 5C90h A 3 FIX32 VD 4 0 Ra/Wa
C0906 23669
ÑÑÑÑ
5C75h A 9 FIX32 VD 4 2 Ra
C0907 23668
ÑÑÑÑ
5C74h A 4 FIX32 VD 4 0 Ra
ÑÑÑÑ
C0908 23667 5C73h E 1 I32 VH 4 0 Ra
ÑÑÑÑ
C0909 23666 5C72h E 1 FIX32 VD 4 0 Ra/Wa
C0910 23665 5C71h E 1 FIX32 VD 4 0 Ra/Wa
C0911 23664
ÑÑÑÑ
5C71h E 1 FIX32 VD 4 0 Ra/Wa
ÑÑÑÑ
C0912 23663 5C70h E 1 FIX32 VD 4 0 Ra/Wa
ÑÑÑÑ
C1120 23455 5B9Fh E 1 FIX32 VD 4 0 Ra/Wa
ÑÑÑÑ
C1121 23454 5B9Eh A 2 FIX32 VD 4 0 Ra/Wa
C1122 23453 5B9Dh E 1 FIX32 VD 4 3 Ra/Wa
C1123 23452
ÑÑÑÑ
5B9Ch A 2 FIX32 VD 4 3 Ra/Wa
ÑÑÑÑ
C1190 23385 5B59h E 1 FIX32 VD 4 0 Ra/Wa
ÑÑÑÑ
C1191 23384 5B58h A 2 FIX32 VD 4 0 Ra/Wa
C1192 23383 5B57h A 2 FIX32 VD 4 0 Ra/Wa
C1799 22776
ÑÑÑÑ
ÑÑÑÑ
C1810 22765 58EDh E 1 VS VS 14 0 Ra
ÑÑÑÑ
C1811 22764 58ECh E 1 VS VS 14 0 Ra
ÑÑÑÑ
C2100 22475 57CBh E 1 FIX32 VD 4 0 Ra/Wa
C2102 22473 57C9h E 1 FIX32 VD 4 0 Ra/Wa
C2104 22471
ÑÑÑÑ
57C7h E 1 FIX32 VD 4 0 Ra/Wa
ÑÑÑÑ
C2108 22467 57C3h E 1 FIX32 VD 4 0 Ra/Wa
ÑÑÑÑ
C2111 22464 57C0h E 1 VS VS 14 0 Ra
C2113 22462 57BDh E 1 VS VS 14 0 Ra
C2114 22461
ÑÑÑÑ
57BCh A 13 U32 VH 4 0 Ra
ÑÑÑÑ
C2115 22460 57BBh E 1 U16 VH 2 0 Ra/Wa
ÑÑÑÑ
C2117 22458 57B9h E 1 FIX32 VD 4 0 Ra
ÑÑÑÑ
C2118 22457 57B8h E 1 FIX32 VD 4 0 Ra/Wa
C2120 22455 57B7h E 1 FIX32 VD 4 0 Ra/Wa
l 9300 Servo PLC EN 4.1 3−59

9300 Servo PLC
Appendix
ÑÑÑÑ
ÑÑÑÑÑÑÑ
ÑÑÑÑ
ÑÑÑÑ
Code
ÑÑÑÑ
ÑÑÑÑ
ÑÑÑÑ
ÑÑÑÑÑÑÑÑ
Index
ÑÑÑÑ
ÑÑÑ
ÑÑÑÑ
ÑÑÑÑÑÑÑÑ
ÑÑÑÑ
ÑÑÑÑÑ
ÑÑÑÑ
position
C2121 22454 57B6h E 1 B8 VH 1 0 Ra
C2350 22225
ÑÑÑÑ
56D1h E 1 FIX32 VD 4 0 Ra/Wa
ÑÑÑÑ
C2351 22224 56D0h E 1 FIX32 VD 4 0 Ra/Wa
ÑÑÑÑ
C2352 22223 56CFh E 1 FIX32 VD 4 0 Ra/Wa
C2353 22222 56CEh A 3 FIX32 VD 4 0 Ra/Wa
C2354 22221
ÑÑÑÑ
56CDh A 6 FIX32 VD 4 0 Ra/Wa
ÑÑÑÑ
C2355 22220 56CCh A 6 FIX32 VD 4 0 Ra/Wa
ÑÑÑÑ
C2356 22219 56CBh A 5 FIX32 VD 4 0 Ra/Wa
ÑÑÑÑ
C2357 22218 56CAh A 4 FIX32 VD 4 0 Ra/Wa
C2359 22216 56C8h E 1 FIX32 VD 4 0 Ra/Wa
C2367
C2368
22208
22207 ÑÑÑÑ
56C0h
ÑÑÑÑ
56BFh
E
E
1
1
FIX32
FIX32
VD
VD
4
4
0
0
Ra/Wa
Ra/Wa
ÑÑÑÑ
C2373 22202 56BAh A 3 FIX32 VD 4 0 Ra/Wa
C2374 22201 56B9h A 3 FIX32 VD 4 0 Ra/Wa
C2375 22200
ÑÑÑÑ
56B8h A 3 FIX32 VD 4 0 Ra/Wa
C2376
C2377
22199
22198 ÑÑÑÑ
56B7h
ÑÑÑÑ
56B6h
A
A
4
4
FIX32
FIX32
VD
VD
4
4
0
0
Ra/Wa
Ra/Wa
ÑÑÑÑ
C2378 22197 56B5h A 4 FIX32 VD 4 0 Ra/Wa
C2382 22193 56B1h A 5 FIX32 VD 4 0 Ra/Wa
C2500 22075
ÑÑÑÑ
563Bh A 255 FIX32 VD 4 0 Ra/Wa
ÑÑÑÑ
C2501 22074 563Ah A 255 FIX32 VD 4 0 Ra/Wa
3−60 9300 Servo PLC EN 4.1 l

9300 Servo PLC
Index
4 Index
A B
Absolute value encoder, Monitoring, 2−77 Braking torque derating, 2−68
Additional torque setpoint, 2−48

C
Addresses, absolute, 1−5
Code table, 3−22
AIF_IO_Management, 2−15
Inputs_AIF_Management, 2−15 Controller inhibit (CINH), 2−24
Outputs_AIF_Management, 2−17 Conventions, 1−1
Pictographs used, 1−2
AIF1_IO_AutomationInterface, 2−2
System block descriptions, 1−1
Inputs_AIF1, 2−2
Outputs_AIF1, 2−5 Current controller, 2−47
Inputs_AIF2, 2−7 D
Outputs_AIF2, 2−9
DCTRL_DriveControl (device control), 2−21
Outputs_AIF3, 2−13
Controller inhibit (CINH), 2−24
AIF3_IO_AutomationInterface, 2−11 Inputs_DCTRL, 2−22
Inputs_AIF3, 2−11 Operation disabled (DISABLE), 2−23
Output of digital status signals, 2−25
Analog input, 2−18 , 2−20 Outputs_DCTRL, 2−22
Analog output, 2−19 , 2−20 Quick stop (QSP), 2−23
Resetting TRIP (TRIP−RESET), 2−25
ANALOG1_IO Transfer of status/control word via AIF, 2−27
Inputs_ANALOG1, 2−18 TRIP status (DCTRL_bExternalFault_b), 2−26
Outputs_ANALOG1, 2−19 DFIN_IO_DigitalFrequency, 2−28
Analog1_IO, 2−18 Encoder cable monitoring, 2−34
Inputs_DFIN, 2−28
ANALOG2_IO Technical data, 2−32
Inputs_ANALOG2, 2−20 Touch probe (TP), 2−33
Outputs_ANALOG2, 2−20
DFOUT_IO_DigitalFrequency, 2−35
Analog2_IO, 2−20 Inputs_DFOUT, 2−35
Outputs_DFOUT, 2−35
Attribute table, 3−55
Technical data, 2−37
Automatic switching frequency changeover, 2−55 Digital frequency input (DFIN)
Automation interface Encoder cable monitoring, 2−34
AIF_IO_Management, 2−15 Technical data, 2−32
Inputs_AIF_Management, 2−15 Touch probe (TP), 2−33
Outputs_AIF_Management, 2−17
Digital frequency output (DFOUT), technical data, 2−37
Inputs_AIF1, 2−2 Digital inputs, 2−39
Outputs_AIF1, 2−5
AIF2_IO_AutomationInterface, 2−7 Digital outputs, 2−40
Inputs_AIF2, 2−7
Outputs_AIF2, 2−9 DIGITAL_IO, 2−39
AIF3_IO_AutomationInterface, 2−11 Inputs_DIGITAL, 2−39
Inputs_AIF3, 2−11 Outputs_DIGITAL, 2−40
Control word, 2−17
Downloading data, 3−7
Transfer of status/control word, 2−27 DRIVECOM, 2−27

9300 Servo PLC
Index
E I
E2PROM−buffered memory, 3−3 I x t overload
Earth fault, monitoring, 2−65 Monitoring, 2−66
Overcurrent diagram, 2−66
Encoder cable monitoring, 2−34
Inputs
Error messages, 3−9
Analog. See Analog inputs
Causes and remedies, 3−14
Definition, 1−6
Overview, 3−10
Responses, 3−13 Digital. See Digital inputs
Error sources, overview, 3−10 Inputs_AIF_Management, 2−15
Extendability, 3−2 Inputs_AIF1, 2−2

Inputs_AIF2, 2−7
F Inputs_AIF3, 2−11
FAIL−QSP, 2−64 , 3−13 Inputs_ANALOG1, 2−18
Fault analysis, 3−19 Inputs_ANALOG2, 2−20
Fault memory, 3−19 Inputs_DCTRL, 2−22
Display in Global Drive Control, 3−20
Inputs_DFIN, 2−28
Fault reset, 3−20
Inputs_DFOUT, 2−35
FCODE_FreeCode, 2−41
Inputs_DIGITAL, 2−39
Feedback systems, 2−56
Field weakening, 2−55 Inputs_MCTRL, 2−45
File header, 3−7 Inputs_MCTRL_AUX_HighResFeedback, 2−82
FLASH memory, 3−3

Free codes, 2−41 K
Keypad, status messages, 3−21
G
Global Drive Control, Fault memory, 3−20 L
LECOM, status word C0150, 3−21
H
LED display, 3−21
Heatsink temperature, Monitoring
LP1 − monitoring of the motor phases, 2−70
Adjustable, 2−73
Fixed, 2−71 LU − undervoltage monitoring, 2−69

9300 Servo PLC
Index
M Monitoring, 2−61
FAIL−QSP, 2−64 , 3−13
Master frequency input, 2−28 LP1 − motor phase monitoring, 2−71
LU − undervoltage monitoring, 2−69
Master frequency output, 2−35
Message, 2−64 , 3−13
Maximum speed, 2−50 nErr − speed monitoring (speed out of tolerance margin), 2−80
NMAX − speed monitoring (maximum speed exceeded), 2−81
MCTRL_AUX_HighResFeedback (high−resolution encoder), OC1 − short−circuit monitoring, 2−65
2−82 OC2 − earth−fault monitoring, 2−65
OC5 − I x t overload monitoring, 2−66
MCTRL_MotorControl (motor control), 2−44 OH3 − motor temperature monitoring (fixed), 2−72
Additional torque setpoint, 2−48 OH4 − heatsink temperature monitoring (adjustable), 2−73
OH7 − motor temperature monitoring (adjustable), 2−74
Current controller, 2−47
OH8 − motor temperature monitoring via T1, T2, 2−75
OU − overvoltage monitoring, 2−67
Field weakening, 2−55 PL − monitoring of the rotor position adjustment, 2−79
Inputs_MCTRL, 2−45 Responses and their effects on the drive, 2−64
Manual adaptation of motor data, 2−59 Sd2 − resolver monitoring for open circuit, 2−76
Sd6 − motor temperature sensor monitoring, 2−77
Maximum speed, 2−50
Sd7 − absolute value encoder monitoring, 2−77
Monitoring, 2−61 Sd8 − sin/cos encoder monitoring during operation, 2−78
LU − undervoltage monitoring, 2−69 Warning, 2−64 , 3−13
nErr − speed monitoring (speed out of tolerance margin), Motor data, manual adaptation, 2−59
2−80
NMAX − speed monitoring (maximum speed exceeded), 2−81 Motor phases, monitoring, 2−70
OC1 − earth−fault monitoring, 2−65
OC1 − short−circuit monitoring, 2−65 Motor temperature, monitoring
Adjustable, 2−74
OH − heatsink temperature monitoring (fixed), 2−71
OH3 − motor temperature monitoring (fixed), 2−72 Fixed, 2−72
OH4 − heatsink temperature monitoring (adjustable), 2−73 Via terminals T1, T2, 2−75
OH8 − motor temperature monitoring via T1, T2, 2−75 Motor temperature sensor, Monitoring, 2−77
OU − overvoltage monitoring, 2−67
PL − monitoring of the rotor position adjustment, 2−79
Responses and their effects on the drive, 2−64
Sd2 − resolver monitoring for open circuit, 2−76
N
Sd6 − motor temperature sensor monitoring, 2−77 nErr − speed monitoring (speed out of tolerance margin),
Sd8 − sin/cos encoder monitoring during operation, 2−78 2−80
Outputs_MCTRL, 2−46 Networking, 3−2
Phase controller, 2−53 NMAX − speed monitoring (maximum speed exceeded),
Quick stop (QSP), 2−54
2−81
Speed controller, 2−51 Node numbers, 1−4

Speed setpoint limitation, 2−52
Switching frequency changeover, 2−55 O
System error messages of the motor control, 2−63 OC1 − short−circuit monitoring, 2−65
Torque control with speed limitation, 2−52 OC2 − earth−fault monitoring, 2−65
Torque limitation, 2−49
Torque setpoint, 2−48
OH − heatsink temperature monitoring (fixed), 2−71
Touch probe (TP), 2−57
Configuration, 2−57 OH3 − motor temperature monitoring (fixed), 2−72
Function sequence, 2−58
MCTRL_nNAct_v, 2−58 OH4 − heatsink temperature monitoring (adjustable), 2−73
MCTRL_nNmaxC11, 2−50
OH8 − motor temperature monitoring via T1, T2, 2−75
Memory types, 3−3
Open−circuit monitoring, Resolver, 2−76
Message, 2−64 , 3−13 Operation disabled (DISABLE), 2−23

9300 Servo PLC
Index
OU − overvoltage monitoring, 2−67 S

Output of digital status signals, 2−25
Safety instructions, layout
Outputs More notes, 1−2
Analog. See Analog outputs Warning of material damage, 1−2
Definition, 1−6 Scalings, 1−8
Digital. See Digital outputs
Sd2 − resolver monitoring for open circuit, 2−76
Sd6 − motor temperature sensor monitoring, 2−77
Outputs_AIF1, 2−5
Outputs_AIF2, 2−9 Sd8 − sin/cos encoder monitoring during operation, 2−78
Outputs_AIF3, 2−13 Setting TRIP (TRIP−SET), 2−24
Outputs_ANALOG1, 2−19 Short circuit, monitoring, 2−65
Outputs_ANALOG2, 2−20 Signal types, 1−8
Outputs_DCTRL, 2−22 Sin/cos encoder, Monitoring, 2−78
Outputs_DFOUT, 2−35 Speed, Monitoring
(maximum speed exceeded), 2−81
Outputs_DIGITAL, 2−40 (speed out of tolerance margin), 2−80
Outputs_MCTRL, 2−46 Speed controller, 2−51
Outputs_MCTRL_AUX_HighResFeedback, 2−82 Set integral action component, 2−52
Overcurrent diagram, 2−66 Speed setpoint limitation, 2−52

STATEBUS_IO, 2−83
Overvoltage, monitoring, 2−67
Status messages, 3−21
Status signals, output, 2−25
P
Status word C0150, 3−21
Persistent memory, 3−5
Status/control word, transfer via AIF, 2−27
Phase controller, 2−53
Switching frequency changeover, 2−55
PL − monitoring of the rotor position adjustment, 2−79 System blocks, 2−1
PLC functionality, 3−1 Absolute addresses, 1−5
AIF_IO_Management, 2−15
POUs, 3−8 Inputs_AIF_Management, 2−15
Program organisation unit (POU), 1−6
Inputs_AIF1, 2−2
Outputs_AIF1, 2−5
Q AIF2_IO_AutomationInterface, 2−7
Inputs_AIF2, 2−7
Quick stop (QSP), 2−23 , 2−54 Outputs_AIF2, 2−9
R Inputs_AIF3, 2−11
ANALOG1_IO
RAM, 3−3 Inputs_ANALOG1, 2−18
Outputs_ANALOG1, 2−19
RAM access, 3−52 Analog1_IO, 2−18
Resetting TRIP (TRIP−RESET), 2−25 ANALOG2_IO
Inputs_ANALOG2, 2−20
Resolver, open−circuit monitoring, 2−76 Outputs_ANALOG2, 2−20
Analog2_IO, 2−20
Responses, 2−64 , 3−13 DCTRL_DriveControl (device control), 2−21
Overview, 3−10 Controller inhibit (CINH), 2−24
Inputs_DCTRL, 2−22
Retain memory, 3−4 Operation disabled (DISABLE), 2−23
Outputs_DCTRL, 2−22
ROM, 3−3 Quick stop (QSP), 2−23
Resetting TRIP (TRIP−RESET), 2−25
Rotor position adjustment, monitoring, 2−79 TRIP status (DCTRL_bExternalFault_b), 2−26 , 2−27

9300 Servo PLC
Index
Definition of inputs/outputs, 1−6 System error messages, 3−9

DFIN_IO_DigitalFrequency, 2−28 Causes and remedies, 3−14
Encoder cable monitoring, 2−34 Overview, 3−10
Inputs_DFIN, 2−28 Reset, 3−13
Technical data, 2−32
Touch probe (TP), 2−33 Responses, 3−13
System error messages of the motor control, 2−63
DFOUT_IO_DigitalFrequency, 2−35
Inputs_DFOUT, 2−35 System POUs, 3−8
Outputs_DFOUT, 2−35
Technical data, 2−37 System variables, 1−5
DIGITAL_IO, 2−39 SYSTEM_FLAGS, 2−84
Inputs_DIGITAL, 2−39
Outputs_DIGITAL, 2−40
Introduction, 1−3
T
Temperature monitoring
Linking, 1−7
Heatsink, 2−71 , 2−73
MCTRL_AUX_HighResFeedback (high−resolution encoder), 2−82 Motor, 2−72 , 2−74 , 2−75
MCTRL_MotorControl, Inputs_MCTRL, 2−45 Temporary codes, 3−52
MCTRL_MotorControl (motor control), 2−44 Term definitions, 1−2
Additional torque setpoint, 2−48
Current controller, 2−47 Terminal extension 9374IB, 3−2
Field weakening, 2−55 Torque control, with speed limitation, 2−52
Manual adaptation of motor data, 2−59 Torque limitation, 2−49
Maximum speed, 2−50
Monitoring, 2−61 Torque setpoint, 2−48
Outputs_MCTRL, 2−46
Phase controller, 2−53 Touch probe (TP), 2−57
Quick stop (QSP), 2−54
Configuration, 2−57
Speed controller, 2−51
Speed setpoint limitation, 2−52 Digital frequency input (DFIN), 2−33
Switching frequency changeover, 2−55 Function sequence, 2−58
System error messages of the motor control, 2−63
MCTRL_nNAct_v, 2−58
Torque control with speed limitation, 2−52
Torque limitation, 2−49 TRIP, 2−64 , 3−13
Torque setpoint, 2−48
Touch probe (TP), 2−57 TRIP status (DCTRL_bExternalFault_b), 2−26
Node numbers, 1−4 TRIP−RESET, 3−20
STATEBUS_IO, 2−83
System variables, 1−5

U
SYSTEM_FLAGS, 2−84 Undervoltage, Monitoring, 2−69
System bus (CAN), 3−2 W

See also Manual "System bus (CAN) for Lenze PLC devices" Warning, 2−64 , 3−13

Manual: 9300 Servo PLC

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L

2006 Lenze Drive Systems GmbH

1 Preface and general information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1−1

2 System blocks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2−1

l 9300 Servo PLC EN 4.1 i

2.7 DCTRL_DriveControl (node number 121) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2−21

ii 9300 Servo PLC EN 4.1 l

l 9300 Servo PLC EN 4.1 iii

iv 9300 Servo PLC EN 4.1 l

1 Preface and general information

1.1 About this Manual

1.1.1 Conventions used in this Manual

Information type Distinction (in text) Example

1.1.2 System block descriptions

SB function and node number

l 9300 Servo PLC EN 4.1 1−1

1.1.3 Pictographs in this Manual

More notes Tip! Indicates a tip or note.

1.1.4 Terminology used

1−2 9300 Servo PLC EN 4.1 l

1.2 System block introduction

1.2.1 System block principle

SBs can address real hardware.

L 9300 Servo PLC EN 4.1 1−3

1.2.2 Node numbers

1−4 9300 Servo PLC EN 4.1 l

1.2.3 Access via system variables

1.2.4 Access via absolute addresses

l 9300 Servo PLC EN 4.1 1−5

1.2.5 Definition of inputs/outputs

Example: System block DIGITAL_IO of the 9300 Servo PLC

DCTRL -X5/28 SB-OUT POU-OUT DIGOUT

1−6 9300 Servo PLC EN 4.1 l

1.2.6 Linking of system blocks with DDS

 Identifier of the I/O variable

l 9300 Servo PLC EN 4.1 1−7

1.2.7 Signal types and scalings

1 motor revolution + 65536 [inc]

31 High Word Low Word 0

 Direction (0 clockwise rotation; 1 counter−clockwise rotation)

External value: −200 % −100 % 0 +100 % +199.99 %

1−8 9300 Servo PLC EN 4.1 l

L 9300 Servo PLC EN 4.1 2−1

2.1 AIF1_IO_AutomationInterface (node number 41)

Byte 16 binary AIF1_bInB15_b

Byte 16 binary AIF1_bIn31_b

Fig. 2−1 Inputs_AIF1

2−2 9300 Servo PLC EN 4.1 L

L 9300 Servo PLC EN 4.1 2−3

2−4 9300 Servo PLC EN 4.1 L

AIF1_bFDO15_b 16 binary Byte

AIF1_bFDO31_b 16 binary Byte

Fig. 2−2 Outputs_AIF1

L 9300 Servo PLC EN 4.1 2−5

Variable Data type Signal type Address Display Display Note

Byte Variable (1 bit) Variable (16 bits) Variable (32 bits)

Notes: Drive PLC:

2−6 9300 Servo PLC EN 4.1 L

2.2 AIF2_IO_AutomationInterface (node number 42)

Fig. 2−3 Inputs_AIF2

L 9300 Servo PLC EN 4.1 2−7

2−8 9300 Servo PLC EN 4.1 L

Fig. 2−4 Outputs_AIF2

Identifier of the I/O variable

Direction (0 clockwise rotation; 1 counter−clockwise rotation)